Ishan/complete java eval

tasks/java-evaluation/Elevator.java

@@ -0,0 +1,43 @@
+import java.util.Scanner;
+public class Elevator {
+    public static void main(String[] args) {
+        Scanner scan = new Scanner(System.in);
+        int floorafter = 1;
+        int floorbefore = 1;
+        boolean floortrue = true;
+        System.out.println("Welcome to the elevator");
+        System.out.println("Elevator initiated at floor 1");
+        while (true) {
+            System.out.println("Floor request:");
+            floorafter = scan.nextInt();
+            if (floorafter > 5 || floorafter < 1) {
+                System.out.println("Sorry that is not a valid floor");
+                floortrue = false;
+            } else if (floorafter > floorbefore) {
+                System.out.println("Going up");
+                for (int i = floorbefore; i <= floorafter; i++) {
+                System.out.println("Floor " + i);
+            }
+
+            } else if (floorafter == floorbefore) {
+                System.out.println("That is the same floor");
+            } else {
+                System.out.println("Going down");
+                for (int i = floorbefore; i >= floorafter; i--) {
+                    System.out.println("Floor " + i);
+                }
+
+            }
+
+            if (floortrue) {
+                floorbefore = floorafter;
+            }
+            System.out.println("Elevator initiated at floor "+floorbefore);
+            floortrue = true;
+
+        }
+
+    }
+}
+
+

tasks/java-evaluation/Indexer.java

@@ -0,0 +1,12 @@
+
+
+
+
+
+/*In `Indexer.java`:
+- Add a boolean field `indexing`
+- Create methods:
+  - `public void startIndexing()`: set `indexing` to true
+  - `public void stopIndexing()`: set `indexing` to false
+  - `public boolean isIndexing()`: return `indexing`
+*/

tasks/lesson2-indexer-task/build.gradle

@@ -4,8 +4,7 @@ plugins {
 }
 
 java {
-    sourceCompatibility = JavaVersion.VERSION_17
-    targetCompatibility = JavaVersion.VERSION_17
+
 }
 
 def ROBOT_MAIN_CLASS = "frc.robot.Main"

tasks/lesson2-indexer-task/src/main/java/frc/robot/RobotContainer.java

@@ -22,6 +22,7 @@ public RobotContainer() {
 
   private void configureBindings() {
     // TODO: Bind indexForSeconds(1.5) to joystick button 1
+    joystick.button(1).whileTrue(indexer.indexForSeconds(1.5));
   }
 
   public Command getAutonomousCommand() {

tasks/lesson2-indexer-task/src/main/java/frc/robot/subsystems/Indexer.java

@@ -5,21 +5,26 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 
 public class Indexer extends SubsystemBase {
   // TODO: Add indexing state variable here
+  boolean indexing;
 
   /** Creates a new Indexer subsystem. */
   public Indexer() {}
 
   /** Starts the indexing process. */
   public void startIndexing() {
     // TODO: Set indexing state to true
+    indexing = true;
   }
 
   /** Stops the indexing process. */
   public void stopIndexing() {
     // TODO: Set indexing state to false
+    indexing = false;
   }
 
   /**
@@ -29,10 +34,14 @@ public void stopIndexing() {
    */
   public boolean isIndexing() {
     // TODO: Return indexing state
-    return false;
+    return indexing;
+
   }
 
   // TODO: Implement indexForSeconds() command factory
+  public Command indexForSeconds(double time) {
+    return Commands.run(() -> startIndexing()).withTimeout(time).finallyDo(() -> stopIndexing());
+  }
 
   @Override
   public void periodic() {

tasks/lesson3-shooter-task/build.gradle

@@ -101,4 +101,4 @@ wpi.java.configureTestTasks(test)
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/Constants.java

@@ -16,4 +16,4 @@ public final class Constants {
   public static class OperatorConstants {
     public static final int kDriverControllerPort = 0;
   }
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/Main.java

@@ -22,4 +22,4 @@ private Main() {}
   public static void main(String... args) {
     RobotBase.startRobot(Robot::new);
   }
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/Robot.java

@@ -91,4 +91,4 @@ public void simulationInit() {}
   /** This function is called periodically whilst in simulation. */
   @Override
   public void simulationPeriodic() {}
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/RobotContainer.java

@@ -11,22 +11,24 @@ public class RobotContainer {
   private final CommandJoystick joystick = new CommandJoystick(0);
 
   // private final Shooter shooter;
+  private final Shooter shooter;
 
   public RobotContainer() {
     // Use real or sim ShooterIO
     // shooter = new Shooter(RobotBase.isReal() ? new ShooterIOTalonFX() : new ShooterIOSim());
-
+    shooter = new Shooter(RobotBase.isReal() ? new ShooterIOTalonFX() : new ShooterIOSim());
     configureBindings();
   }
 
   private void configureBindings() {
     // Example binding: spin shooter at 50% while holding button 1
     // Once the shooter is implemented, you should see the motor spinning at 3000rpm when button 1 is held down
+    joystick.button(1).whileTrue(Commands.run(() -> shooter.spin(0.5), shooter)).onFalse(Commands.run(() -> shooter.stop(), shooter));
     /*
     joystick
         .button(1)
         .whileTrue(Commands.run(() -> shooter.spin(0.5), shooter))
         .onFalse(Commands.run(() -> shooter.stop(), shooter));
     */
   }
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/ExampleSubsystem.java

@@ -44,4 +44,4 @@ public void periodic() {
   public void simulationPeriodic() {
     // This method will be called once per scheduler run during simulation
   }
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -1,27 +1,44 @@
 package frc.robot.subsystems.shooter;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs;
 
 // Main Shooter subsystem logic
 public class Shooter extends SubsystemBase {
   // TODO: Add a private field for your ShooterIO instance
+  private final ShooterIO io;
   // TODO: Add a private field for your ShooterIOInputs instance and initialize it
-
+  private final ShooterIOInputs ShooterIOInput = new ShooterIOInputs();
   // TODO: Create the constructor that takes a ShooterIO instance as a parameter
+  public Shooter(ShooterIO io) {
+    this.io = io;
+  }
   // public Shooter(ShooterIO io) { ... }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
     // TODO: Call the updateInputs method on your ShooterIO instance
+    io.updateInputs(ShooterIOInput);
+
+    System.out.println("Shooter RPM: " + ShooterIOInput.motorRPM);
   }
 
   // TODO: Add a public method to spin the shooter motor at a given percentage output
   // public void spin(double percent) { ... }
+  public void spin(double percent) {
+    io.setMotorPercentOutput(percent);
+  }
 
   // TODO: Add a public method to stop the shooter motor
   // public void stop() { ... }
+  public void stop() {
+    io.setMotorPercentOutput(0.0);
+  }
 
   // TODO: Add a public method to return the current motor RPM
   // public double getCurrentRPM() { ... }
-}
+  public double getCurrentRPM() {
+    return ShooterIOInput.motorRPM;
+  }
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java

@@ -15,4 +15,4 @@ class ShooterIOInputs {
    * @param percent Output percentage from -1.0 to 1.0.
    */
   void setMotorPercentOutput(double percent);
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java

@@ -6,15 +6,17 @@ public class ShooterIOSim implements ShooterIO {
   private static final double MAX_RPM = 6000.0;
 
   // TODO: Add a private field `simulatedMotorPercent` to store the simulated motor percentage
-
+  private double simulatedMotorPercent = 0.0;
+
   @Override
   public void updateInputs(ShooterIOInputs inputs) {
     // TODO: Simulate motorRPM by multiplying the stored simulatedMotorPercent by the max RPM
-    inputs.motorRPM = 0.0; // Placeholder - replace 0.0
+    inputs.motorRPM = simulatedMotorPercent * MAX_RPM; //
   }
 
   @Override
   public void setMotorPercentOutput(double percent) {
     // TODO: Store the given `percent` in your simulated motor percentage field
+    simulatedMotorPercent = percent;
   }
-}
+}

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/shooter/ShooterIOTalonFX.java

@@ -26,14 +26,16 @@ public ShooterIOTalonFX() {
   @Override
   public void updateInputs(ShooterIOInputs inputs) {
     // TODO: Read the motor’s velocity (rotations per second) as a double using
-    // motor.getVelocity().getValueAsDouble()
+    double motorVelocityRPM = motor.getVelocity().getValueAsDouble();
 
     // TODO: Save the RPM to inputs.motorRPM (convert from rotations per second)
+    inputs.motorRPM = motorVelocityRPM * 60.0;
   }
 
   @Override
   public void setMotorPercentOutput(double percent) {
     // TODO: Use motor.setControl and the dutyCycleOut variable to set the motor’s percent output
+    motor.setControl(dutyCycleOut.withOutput(percent));
     // Tip: Search up documentation for DutyCycleOut methods
   }
-}
+}