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Indexer Subsystem and Commands #6

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Merged
Eddie-Edward merged 2 commits into from
Feb 8, 2025
Merged

Indexer Subsystem and Commands #6

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5581693
Indexer subsystem and commands
joelzoto Feb 8, 2025
1521c7e
Merge branch 'main' of https://github.com/joelzoto/2025RobotCode
joelzoto Feb 8, 2025
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8 changes: 8 additions & 0 deletions src/main/java/frc/robot/Indexer.java
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// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package frc.robot;

/** Add your docs here. */
public class Indexer {}
1 change: 1 addition & 0 deletions src/main/java/frc/robot/Main.java
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package frc.robot;

import edu.wpi.first.wpilibj.RobotBase;
import frc.robot.indexer.Indexer;

/**
* Do NOT add any static variables to this class, or any initialization at all. Unless you know what
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53 changes: 53 additions & 0 deletions src/main/java/frc/robot/indexer/Indexer.java
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package frc.robot.indexer;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.InvertedValue;

import edu.wpi.first.units.measure.Current;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class Indexer extends SubsystemBase{
public static class Settings {
static int kTalonID = 10;
static final double kMaxVoltage = 12.0;
static final int kCurrentLimit = 200;
static final int kCurrentThreshold = 100;
}

private static Indexer mInstance;
private TalonFX mKraken;

public Indexer() {
mKraken = new TalonFX(Settings.kTalonID);

var talonFXConfigurator = mKraken.getConfigurator();
var motorConfigs = new MotorOutputConfigs();

motorConfigs.Inverted = InvertedValue.Clockwise_Positive;
talonFXConfigurator.apply(motorConfigs);

}

public static Indexer getInstance() {
if (mInstance == null) {
mInstance = new Indexer();
}
return mInstance;
}

public void setOutput(double percentOut) {
mKraken.setVoltage(percentOut * Settings.kMaxVoltage);
}

public Boolean hasAlgae() {
//needs testing
return (mKraken.getStatorCurrent().getValueAsDouble() > Settings.kCurrentThreshold);
}

@Override
public void periodic() {
SmartDashboard.putBoolean("Indexer Has Algae", hasAlgae());
}
}
10 changes: 10 additions & 0 deletions src/main/java/frc/robot/indexer/commands/IndexerCommands.java
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package frc.robot.indexer.commands;

import edu.wpi.first.wpilibj2.command.Command;
import java.util.function.DoubleSupplier;

public class IndexerCommands {
public static Command setOutput(DoubleSupplier outputSupplier) {
return new SetOutputIndexer(outputSupplier);
}
}
27 changes: 27 additions & 0 deletions src/main/java/frc/robot/indexer/commands/SetOutputIndexer.java
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package frc.robot.indexer.commands;

import java.util.function.DoubleSupplier;

import edu.wpi.first.wpilibj2.command.Command;
import frc.robot.indexer.Indexer;

public class SetOutputIndexer extends Command {
private final Indexer indexer;
private final DoubleSupplier supplier;

public SetOutputIndexer(DoubleSupplier supplier) {
indexer = Indexer.getInstance();
this.supplier = supplier;
addRequirements(indexer);
}

@Override
public void execute() {
indexer.setOutput(supplier.getAsDouble());
}

@Override
public void end(boolean interrupted) {
indexer.setOutput(0);
}
}