Feature/add new controls for shooters

.github/workflows/gradle-publish.yml

@@ -20,6 +20,10 @@ jobs:
         distribution: 'adopt'
     - name: Set Permissions
       run: ls -lrt && chmod 777 ./*
+    - name: Clean Groovy 
+      uses: gradle/gradle-build-action@4137be6a8bf7d7133955359dbd952c0ca73b1021
+      with:
+        arguments: :spotlessApply
     - name: Build with Gradle
       uses: gradle/gradle-build-action@4137be6a8bf7d7133955359dbd952c0ca73b1021
       with:

simgui-ds.json

@@ -1,4 +1,9 @@
 {
+  "Joysticks": {
+    "window": {
+      "visible": false
+    }
+  },
   "keyboardJoysticks": [
     {
       "axisConfig": [
@@ -88,5 +93,14 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    },
+    {
+      "useGamepad": true
+    }
   ]
 }

simgui.json

@@ -1,7 +1,71 @@
 {
   "NTProvider": {
     "types": {
-      "/FMSInfo": "FMSInfo"
+      "/FMSInfo": "FMSInfo",
+      "/LiveWindow/AddressableLEDs": "Subsystem",
+      "/LiveWindow/BottomShooter": "Subsystem",
+      "/LiveWindow/BottomShooter/Bottom Shooter": "Subsystem",
+      "/LiveWindow/Chassis": "Subsystem",
+      "/LiveWindow/Feeder": "Subsystem",
+      "/LiveWindow/FrontClimber": "Subsystem",
+      "/LiveWindow/Intake": "Subsystem",
+      "/LiveWindow/RearClimber": "Subsystem",
+      "/LiveWindow/Shooter": "Subsystem",
+      "/LiveWindow/TopShooter/Top Shooter": "Subsystem",
+      "/LiveWindow/Ungrouped/DifferentialDrive[1]": "DifferentialDrive",
+      "/LiveWindow/Ungrouped/MotorControllerGroup[3]": "Motor Controller",
+      "/LiveWindow/Ungrouped/MotorControllerGroup[4]": "Motor Controller",
+      "/LiveWindow/Ungrouped/Scheduler": "Scheduler",
+      "/LiveWindow/Ungrouped/Talon FX [9]": "Motor Controller",
+      "/LiveWindow/Ungrouped/Talon SRX [5]": "Motor Controller",
+      "/LiveWindow/Ungrouped/Talon SRX [6]": "Motor Controller",
+      "/LiveWindow/Ungrouped/Talon SRX [7]": "Motor Controller",
+      "/LiveWindow/Ungrouped/Talon SRX [8]": "Motor Controller",
+      "/LiveWindow/Ungrouped/navX-Sensor[4]": "Gyro"
+    }
+  },
+  "NetworkTables": {
+    "FMSInfo": {
+      "open": true
+    },
+    "LiveWindow": {
+      "BottomShooter": {
+        "Bottom Shooter": {
+          "open": true
+        },
+        "open": true
+      },
+      "TopShooter": {
+        "Top Shooter": {
+          "open": true
+        },
+        "open": true
+      },
+      "Ungrouped": {
+        "DifferentialDrive[1]": {
+          "open": true
+        },
+        "MotorControllerGroup[3]": {
+          "open": true
+        },
+        "Talon FX [9]": {
+          "open": true
+        },
+        "Talon SRX [5]": {
+          "open": true
+        },
+        "Talon SRX [6]": {
+          "open": true
+        },
+        "Talon SRX [7]": {
+          "open": true
+        },
+        "Talon SRX [8]": {
+          "open": true
+        },
+        "open": true
+      },
+      "open": true
     }
   }
 }

src/main/java/com/fireteam322/frc/robot/Constants.java

@@ -39,7 +39,6 @@ public final class Constants {
   // Shooter.java
   public static final int LEFT_SHOOTER_MOTOR = 7;
   public static final int RIGHT_SHOOTER_MOTOR = 8;
-  public static final int TOP_SHOOTER_MOTOR = 9;
 
   // RobotContainer.java
   public static final int DRIVE_STICK = 0,

src/main/java/com/fireteam322/frc/robot/RobotContainer.java

@@ -31,7 +31,9 @@ public class RobotContainer {
   private final FrontClimber m_frontClimber = new FrontClimber();
   private final Feeder m_feeder = new Feeder();
   private final Intake m_intake = new Intake();
-  private final Shooter m_shooter = new Shooter();
+  // private final Shooter m_shooter = new Shooter();
+  private final TopShooter t_shooter = new TopShooter();
+  private final BottomShooter b_shooter = new BottomShooter();
 
   private final F310Controller m_driveStick = new F310Controller(Constants.DRIVE_STICK);
   private final F310Controller m_manipulatorStick = new F310Controller(Constants.MANIPULATOR_STICK);
@@ -50,14 +52,25 @@ public class RobotContainer {
       new JoystickButton(m_driveStick, F310Controller.Button.kY.getValue());
   private final JoystickButton m_frontClimbReverseButton =
       new JoystickButton(m_driveStick, F310Controller.Button.kB.getValue());
+
+  // Feeder Buttons
   private final JoystickButton m_feederButton =
       new JoystickButton(m_manipulatorStick, F310Controller.Button.kA.getValue());
+
   private final JoystickButton m_feederReverseButton =
       new JoystickButton(m_manipulatorStick, F310Controller.Button.kB.getValue());
+
+  // Bottom Shooter
   private final JoystickButton m_shooterButton =
       new JoystickButton(m_manipulatorStick, F310Controller.Button.kX.getValue());
+
   private final JoystickButton m_shooterReverseButton =
       new JoystickButton(m_manipulatorStick, F310Controller.Button.kY.getValue());
+
+  // Top Shooter
+  private final JoystickButton m_topShooterButton =
+      new JoystickButton(m_driveStick, F310Controller.Button.kBumperLeft.getValue());
+
   private final JoystickButton m_intakeReverseButton =
       new JoystickButton(m_manipulatorStick, F310Controller.Button.kBumperLeft.getValue());
   private final JoystickButton m_intakeButton =
@@ -80,12 +93,17 @@ public RobotContainer() {
 
     m_intake.setDefaultCommand(new RunIntake(m_intake, () -> -m_manipulatorStick.getRightY()));
 
-    m_shooter.setDefaultCommand(
-        new RunShooter(
-            m_shooter,
-            () ->
-                (m_manipulatorStick.getRightTriggerAxis()
-                    - m_manipulatorStick.getLeftTriggerAxis())));
+    /// t_shooter.getDefaultCommand(new RunTopShooter(t_shooter,m_manipulatorStick.getLeftX()));
+
+    // b_shooter.getDefaultCommand(new
+    // RunBottomShooter(b_shooter,m_manipulatorStick.getLeftTriggerAxis()));*/
+
+    /* m_shooter.setDefaultCommand(
+    new RunShooter(
+        m_shooter,
+        () ->
+            (m_manipulatorStick.getRightTriggerAxis()
+                - m_manipulatorStick.getLeftTriggerAxis())));*/
 
     m_frontClimber.setDefaultCommand(
         new RunFrontClimber(m_frontClimber, m_manipulatorStick.getLeftX()));
@@ -115,9 +133,21 @@ private void configureButtonBindings() {
     m_feederReverseButton.whileActiveOnce(
         new RunFeeder(m_feeder, () -> Constants.FEEDER_REVERSE_SPEED), true);
 
-    m_shooterButton.whileActiveOnce(new RunShooter(m_shooter, () -> Constants.SHOOTER_SPEED), true);
-    m_shooterReverseButton.whileActiveOnce(
-        new RunShooter(m_shooter, () -> Constants.SHOOTER_REVERSE_SPEED), true);
+    /*m_shooterButton.whileActiveOnce(new RunShooter(m_shooter, () -> Constants.SHOOTER_SPEED), true);*/
+
+    // Bottom Shooter
+    m_shooterButton.whileHeld(new RunBottomShooter(b_shooter, Constants.SHOOTER_SPEED), true);
+    m_shooterButton.whenReleased(new RunBottomShooter(b_shooter, 0), true);
+    m_shooterReverseButton.whileHeld(
+        new RunBottomShooter(b_shooter, Constants.SHOOTER_REVERSE_SPEED), true);
+    m_shooterReverseButton.whenReleased(new RunBottomShooter(b_shooter, 0), true);
+
+    // Top Shooter
+    m_topShooterButton.whileHeld(new RunTopShooter(t_shooter, Constants.SHOOTER_SPEED), true);
+    m_topShooterButton.whenReleased(new RunTopShooter(t_shooter, 0), true);
+
+    /* m_shooterReverseButton.whileActiveOnce(
+    new RunShooter(m_shooter, () -> Constants.SHOOTER_REVERSE_SPEED), true);*/
 
     m_intakeButton.whileActiveOnce(new RunIntake(m_intake, () -> Constants.INTAKE_SPEED));
     m_intakeReverseButton.whileActiveOnce(

src/main/java/com/fireteam322/frc/robot/commands/RunBottomShooter.java

@@ -0,0 +1,40 @@
+package com.fireteam322.frc.robot.commands;
+
+import com.fireteam322.frc.robot.subsystems.BottomShooter;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class RunBottomShooter extends CommandBase {
+  private final BottomShooter m_shooter;
+  private final double m_speed;
+
+  /** Creates a new RunShooter. */
+  public RunBottomShooter(BottomShooter shooter, double speed) {
+    m_shooter = shooter;
+    m_speed = speed;
+    // Use addRequirements() here to declare subsystem dependencies.
+    m_shooter.setName("Bottom Shooter");
+    addRequirements(m_shooter);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_shooter.run(m_speed);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    if (!interrupted) m_shooter.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/com/fireteam322/frc/robot/commands/RunTopShooter.java

@@ -0,0 +1,40 @@
+package com.fireteam322.frc.robot.commands;
+
+import com.fireteam322.frc.robot.subsystems.TopShooter;
+import edu.wpi.first.wpilibj2.command.CommandBase;
+
+public class RunTopShooter extends CommandBase {
+  private final TopShooter m_shooter;
+  private final double m_speed;
+
+  /** Creates a new RunShooter. */
+  public RunTopShooter(TopShooter shooter, double speed) {
+    m_shooter = shooter;
+    m_speed = speed;
+    m_shooter.setName("Top Shooter");
+    // Use addRequirements() here to declare subsystem dependencies.
+    addRequirements(m_shooter);
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {}
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {
+    m_shooter.run(m_speed);
+  }
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {
+    if (!interrupted) m_shooter.stop();
+  }
+
+  // Returns true when the command should end.
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}

src/main/java/com/fireteam322/frc/robot/subsystems/BottomShooter.java

@@ -0,0 +1,35 @@
+package com.fireteam322.frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.fireteam322.frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class BottomShooter extends SubsystemBase {
+  // The Shooter is both our upper level ball intake and our ball output
+  // mechanism.
+  private final WPI_TalonSRX m_leftShooterMotor = new WPI_TalonSRX(Constants.LEFT_SHOOTER_MOTOR);
+
+  /** Creates a new Shooter. */
+  public BottomShooter() {
+    super();
+    // Set the inversion on the shooter motors.
+    m_leftShooterMotor.setInverted(false);
+
+    // Set the shooter motors to Coast so they don't stop balls moving through them.
+    m_leftShooterMotor.setNeutralMode(NeutralMode.Brake);
+  }
+
+  public void stop() {
+    m_leftShooterMotor.stopMotor();
+  }
+
+  public void run(double speed) {
+    m_leftShooterMotor.set(speed);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}

src/main/java/com/fireteam322/frc/robot/subsystems/Shooter.java

@@ -18,24 +18,21 @@ public class Shooter extends SubsystemBase {
   // mechanism.
   private final WPI_TalonSRX m_leftShooterMotor = new WPI_TalonSRX(Constants.LEFT_SHOOTER_MOTOR);
   private final WPI_TalonSRX m_rightShooterMotor = new WPI_TalonSRX(Constants.RIGHT_SHOOTER_MOTOR);
-  private final WPI_TalonSRX m_topShooterMotor = new WPI_TalonSRX(Constants.TOP_SHOOTER_MOTOR);
 
   private final MotorControllerGroup m_shooterMotors =
-      new MotorControllerGroup(m_leftShooterMotor, m_rightShooterMotor, m_topShooterMotor);
+      new MotorControllerGroup(m_leftShooterMotor, m_rightShooterMotor);
 
   /** Creates a new Shooter. */
   public Shooter() {
     super();
     // Set the inversion on the shooter motors.
     m_leftShooterMotor.setInverted(false);
     m_rightShooterMotor.setInverted(false);
-    m_topShooterMotor.setInverted(true);
     m_shooterMotors.setInverted(true);
 
     // Set the shooter motors to Coast so they don't stop balls moving through them.
     m_leftShooterMotor.setNeutralMode(NeutralMode.Coast);
     m_rightShooterMotor.setNeutralMode(NeutralMode.Coast);
-    m_topShooterMotor.setNeutralMode(NeutralMode.Coast);
   }
 
   public void stop() {

src/main/java/com/fireteam322/frc/robot/subsystems/TopShooter.java

@@ -0,0 +1,36 @@
+package com.fireteam322.frc.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+import com.fireteam322.frc.robot.Constants;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class TopShooter extends SubsystemBase {
+  // The Shooter is both our upper level ball intake and our ball output
+  // mechanism.
+  private final WPI_TalonSRX m_rightShooterMotor = new WPI_TalonSRX(Constants.RIGHT_SHOOTER_MOTOR);
+
+  /** Creates a new Shooter. */
+  public TopShooter() {
+    super();
+    // Set the inversion on the shooter motors.
+
+    m_rightShooterMotor.setInverted(false);
+
+    // Set the shooter motors to Coast so they don't stop balls moving through them.
+    m_rightShooterMotor.setNeutralMode(NeutralMode.Brake);
+  }
+
+  public void stop() {
+    m_rightShooterMotor.stopMotor();
+  }
+
+  public void run(double speed) {
+    m_rightShooterMotor.set(speed);
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+  }
+}