Feat: Added indexer.

.vscode/settings.json

@@ -36,6 +36,6 @@
     "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
   },
   "[java]": {
-    "editor.defaultFormatter": "richardwillis.vscode-spotless-gradle"
+    "editor.defaultFormatter": "redhat.java"
   }
 }

src/main/java/frc/robot/RobotContainer.java

@@ -24,13 +24,17 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.DriveCommands;
 import frc.robot.commands.FeedForwardCharacterization;
+import frc.robot.commands.IndexerDefaultCommand;
 import frc.robot.commands.ShooterCommands;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.GyroIO;
 import frc.robot.subsystems.drive.GyroIOPigeon2;
 import frc.robot.subsystems.drive.ModuleIO;
 import frc.robot.subsystems.drive.ModuleIOSim;
 import frc.robot.subsystems.drive.ModuleIOSparkMax;
+import frc.robot.subsystems.indexer.Indexer;
+import frc.robot.subsystems.indexer.IndexerIO;
+import frc.robot.subsystems.indexer.IndexerIOReal;
 import frc.robot.subsystems.shooter.*;
 import frc.robot.util.Limelight;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
@@ -47,6 +51,7 @@ public class RobotContainer {
   private final Drive drive;
   private final Flywheel flywheel;
   private final Shooter shooter;
+  private final Indexer indexer;
 
   private final Limelight limelight = new Limelight("limelight");
 
@@ -83,6 +88,7 @@ public RobotContainer() {
         // new ModuleIOTalonFX(2),
         // new ModuleIOTalonFX(3));
         // flywheel = new Flywheel(new FlywheelIOTalonFX());
+        indexer = new Indexer(new IndexerIOReal());
         break;
 
       case SIM:
@@ -96,6 +102,7 @@ public RobotContainer() {
                 new ModuleIOSim());
         flywheel = new Flywheel(new FlywheelIOSim());
         shooter = null;
+        indexer = null;
         break;
 
       default:
@@ -109,6 +116,7 @@ public RobotContainer() {
                 new ModuleIO() {});
         flywheel = new Flywheel(new FlywheelIO() {});
         shooter = null;
+        indexer = null;
         break;
     }
 
@@ -162,6 +170,7 @@ private void configureButtonBindings() {
             () -> -controller.getRightX()));
 
     shooter.setDefaultCommand(new ShooterCommands.ShooterIdle(shooter));
+    indexer.setDefaultCommand(new IndexerDefaultCommand(indexer));
     controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
     controller
         .b()
@@ -183,7 +192,7 @@ private void configureButtonBindings() {
               () -> -controller.getLeftY(),
               () -> -controller.getLeftX(),
                     limelight))
-            .whileTrue(new ShooterCommands.Shoot(shooter,limelight));
+            .whileTrue(new ShooterCommands.Shoot(shooter,limelight,indexer));
   }
 
   /**

src/main/java/frc/robot/commands/IndexerDefaultCommand.java

@@ -0,0 +1,28 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.CommandBase;
+import frc.robot.subsystems.indexer.Indexer;
+
+public class IndexerDefaultCommand extends CommandBase {
+    private final Indexer indexer;
+
+
+    public IndexerDefaultCommand (Indexer indexer) {
+        this.indexer = indexer;
+        addRequirements(indexer);
+    }
+
+
+    @Override
+    public void initialize() {}
+
+    @Override
+    public void execute() {
+        indexer.indexerRun(false);
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

src/main/java/frc/robot/commands/ShooterCommands.java

@@ -1,6 +1,7 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.indexer.Indexer;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.util.Limelight;
 
@@ -13,6 +14,8 @@ public static class Shoot extends Command {
 
     Limelight limelight;
 
+    Indexer indexer;
+
     enum State {
       INIT,
       SPINUP,
@@ -22,11 +25,12 @@ enum State {
 
     State state = State.SPINUP;
 
-    public Shoot(Shooter shooter, Limelight limelight) {
+    public Shoot(Shooter shooter, Limelight limelight, Indexer indexer) {
       this.shooter = shooter;
-      addRequirements(shooter);
+      addRequirements(shooter, indexer);
 
       this.limelight = limelight;
+      this.indexer = indexer;
     }
 
     @Override
@@ -45,6 +49,7 @@ public void execute() {
               && shooter.getSecondaryVelocityRPM() == secondaryRPM
               && limelight.aimed()) {
             shooter.setLoadingVoltage(10);
+            indexer.indexerRun(true);
             state = State.SHOOTING;
           }
         }
@@ -57,6 +62,10 @@ public void execute() {
     }
 
     @Override
+public void end(boolean isInterrupted) {
+  indexer.indexerRun(false);
+}
+    @Override
     public boolean isFinished() {
       return state == State.DONE;
     }

src/main/java/frc/robot/subsystems/indexer/Indexer.java

@@ -0,0 +1,25 @@
+package frc.robot.subsystems.indexer;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Indexer extends SubsystemBase {
+    IndexerIO io;
+    IndexerIOInputsAutoLogged inputs;
+
+    public Indexer(IndexerIO io) {
+        this.io = io;
+    }
+
+    public void indexerRun(boolean shooting) {
+        if (shooting == true) {
+            io.setPercent(1);
+        } else {
+            io.setPercent(0.2);
+        }
+    }
+
+    @Override
+    public void periodic() {
+        io.updateInputs(inputs);
+    }
+}

src/main/java/frc/robot/subsystems/indexer/IndexerIO.java

@@ -0,0 +1,13 @@
+package frc.robot.subsystems.indexer;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface IndexerIO {
+    @AutoLog
+    public static class IndexerIOInputs {
+      public double velocityRotationsPerSecond;
+    }
+
+    public default void updateInputs(IndexerIOInputs inputs) {}
+    public default void setPercent(double input) {}
+}

src/main/java/frc/robot/subsystems/indexer/IndexerIOReal.java

@@ -0,0 +1,18 @@
+package frc.robot.subsystems.indexer;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel.MotorType;
+
+public class IndexerIOReal implements IndexerIO {
+    CANSparkMax indexerMotor = new CANSparkMax(0, MotorType.kBrushless);
+
+    @Override
+    public void setPercent(double percentage) {
+        indexerMotor.set(percentage);
+    }
+
+    @Override
+    public void updateInputs(IndexerIOInputs inputs) {
+        inputs.velocityRotationsPerSecond = indexerMotor.getEncoder().getVelocity();
+    }
+}