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R2 89 create hopper state #26

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R2 89 create hopper state #26

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30ae984
WIP started State Enum!
GhostR406 Jan 22, 2026
129f2ed
Might have finished hopper state idk! 1 / 22 / 26
GhostR406 Jan 22, 2026
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6 changes: 6 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 @@ -25,6 +25,7 @@
import edu.wpi.first.math.geometry.Translation2d;
import edu.wpi.first.math.geometry.Translation3d;
import edu.wpi.first.units.AngularAccelerationUnit;
import edu.wpi.first.units.AngularVelocityUnit;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
Expand Down Expand Up @@ -85,6 +86,11 @@ 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);

// CHANGE TO PROPER RPMS !!!!
public static final double SLOW_SPEED_RPM = 0.0;
public static final double FAST_SPEED_RPM = 0.0;
public static final double REVERSE_SPEED_RPM = 0.0;
}

public class Ports {
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20 changes: 19 additions & 1 deletion src/main/java/frc/robot/subsystems/hopper/Hopper.java
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Expand Up @@ -3,10 +3,28 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.lib.W8.mechanisms.flywheel.FlywheelMechanism;

public class Hopper extends SubsystemBase {
import static edu.wpi.first.units.Units.*;

import edu.wpi.first.units.measure.*;
import frc.robot.Constants.HopperConstants;

public class Hopper extends SubsystemBase {
private FlywheelMechanism _io;

public enum State
{
OFF (RevolutionsPerSecond.of(0.0)),
FORWARD_SLOW (RevolutionsPerSecond.of(HopperConstants.SLOW_SPEED_RPM/60)),
FORWARD_FAST (RevolutionsPerSecond.of(HopperConstants.FAST_SPEED_RPM/60)),
REVERSE (RevolutionsPerSecond.of(HopperConstants.REVERSE_SPEED_RPM/60));

private final AngularVelocity _stateVelocity;

private State(AngularVelocity stateVelocity) {
_stateVelocity = stateVelocity;
}
}

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