Yishay Amir

src/main/java/frc/trigon/robot/subsystems/sideshooter/SideShooterConstants.java

@@ -0,0 +1,54 @@
+package frc.trigon.robot.subsystems.sideshooter;
+
+import com.ctre.phoenix6.configs.CANcoderConfiguration;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.hardware.CANcoder;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.AbsoluteSensorRangeValue;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel;
+
+public class SideShooterConstants {
+    private static final int SHOOTING_MOTOR_ID = 0;
+    private static final int ANGEL_MOTOR_ID = 0;
+    private static final int ENCODER_ID = 0;
+    private static final NeutralModeValue SHOOTING_NEUTRAL_MODE_VALUE = NeutralModeValue.Coast;
+    private static final CANSparkMax.IdleMode ANGLE_NEUTRAL_MODE_VALUE = CANSparkMax.IdleMode.kBrake;
+    private static final InvertedValue SHOOTING_INVERTED_VALUE = InvertedValue.CounterClockwise_Positive;
+    private static final boolean ANGLE_INVERTED_VALUE = false;
+    private static final double ENCODER_OFFSET = 0;
+    private static final AbsoluteSensorRangeValue ENCODER_RANGE_VALUE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
+    static final CANcoder ENCODER = new CANcoder(ENCODER_ID);
+    static final TalonFX SHOOTING_MOTOR = new TalonFX(SHOOTING_MOTOR_ID);
+    static final CANSparkMax ANGEL_MOTOR = new CANSparkMax(ANGEL_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
+
+    static {
+        configureShootingMotor();
+        configureAngleMotor();
+        configureEncoder();
+    }
+    private static void configureShootingMotor() {
+        TalonFXConfiguration ShootingMotorConfig = new TalonFXConfiguration();
+        ShootingMotorConfig.Audio.BeepOnBoot = false;
+        ShootingMotorConfig.Audio.BeepOnConfig = false;
+        ShootingMotorConfig.MotorOutput.NeutralMode = SHOOTING_NEUTRAL_MODE_VALUE;
+        ShootingMotorConfig.MotorOutput.Inverted = SHOOTING_INVERTED_VALUE;
+        SHOOTING_MOTOR.getConfigurator().apply(ShootingMotorConfig);
+    }
+
+    private static void configureAngleMotor(){
+        ANGEL_MOTOR.restoreFactoryDefaults();
+        ANGEL_MOTOR.setIdleMode(ANGLE_NEUTRAL_MODE_VALUE);
+        ANGEL_MOTOR.setInverted(ANGLE_INVERTED_VALUE);
+    }
+
+    private static void configureEncoder(){
+        CANcoderConfiguration EncoderConfiguration = new CANcoderConfiguration();
+        EncoderConfiguration.MagnetSensor.MagnetOffset = ENCODER_OFFSET;
+        EncoderConfiguration.MagnetSensor.AbsoluteSensorRange = ENCODER_RANGE_VALUE;
+        ENCODER.getConfigurator().apply(EncoderConfiguration);
+    }
+
+}