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Huzzah ! Made "runHopper" ( 1 / 21 / 26 )! #24

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Huzzah ! Made "runHopper" ( 1 / 21 / 26 )! #24

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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/Constants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,8 @@

package frc.robot;

import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Volts;
import static edu.wpi.first.units.Units.Inches;
import static edu.wpi.first.units.Units.Meters;
import static edu.wpi.first.units.Units.Rotations;
Expand All @@ -30,6 +32,7 @@
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Distance;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.RobotBase;
import frc.lib.W8.mechanisms.rotary.RotaryMechanism.RotaryMechCharacteristics;

Expand Down Expand Up @@ -85,6 +88,7 @@ public class HopperConstants {
public static final Distance MIN_DISTANCE = Inches.of(0.0);
public static final Distance MAX_DISTANCE = Inches.of(15.0);
public static final Distance STARTING_DISTANCE = Inches.of(0.0);
public static final Voltage VOLTAGE = Volts.of(12.0);
}

public class Ports {
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11 changes: 8 additions & 3 deletions src/main/java/frc/robot/subsystems/hopper/Hopper.java
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Original file line number Diff line number Diff line change
@@ -1,16 +1,21 @@
package frc.robot.subsystems.hopper;

import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;
import frc.lib.W8.mechanisms.rotary.RotaryMechanism;
import frc.robot.HopperCOnstants;

public class Hopper extends SubsystemBase {

private FlywheelMechanism _io;
private RotaryMechanism _io;

public Hopper(FlywheelMechanism io) {
public Hopper(RotaryMechanism io) {
_io = io;
}

public void runHopper() {
_io.runVoltage(HopperConstants.VOLTAGE);
}

@Override
public void periodic() {

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