Miniberty

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

@@ -0,0 +1,96 @@
+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.ctre.phoenix6.signals.SensorDirectionValue;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+
+
+public class SideShooterConstants {
+
+    private static final double VOLTAGE_COMPENSATION = 12;
+    private static final int
+            SHOOTING_MOTOR_ID = 0,
+            ANGLE_MOTOR_ID = 1,
+            ANGLE_ENCODER_ID = 2;
+
+
+    private static final double ANGLE_ENCODER_OFFSET = 0;
+    private static final AbsoluteSensorRangeValue ANGLE_ENCODER_RANGE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
+    private static final InvertedValue SHOOTING_MOTOR_INVERTED_VALUE = InvertedValue.CounterClockwise_Positive;
+    private static final boolean ANGLE_MOTOR_INVERTED = false;
+
+    private static final SensorDirectionValue ANGLE_ENCODER_DIRECTION = SensorDirectionValue.Clockwise_Positive;
+    private static final NeutralModeValue SHOOTING_NEUTRAL_MODE_VALUE = NeutralModeValue.Coast;
+    private static final CANSparkMax.IdleMode ANGLE_MOTOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake;
+
+    static final CANSparkMax ANGLE_MOTOR = new CANSparkMax(ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
+    static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID);
+    static final TalonFX SHOOTING_MOTOR = new TalonFX(SHOOTING_MOTOR_ID);
+
+    private static final double
+        MAX_ANGLE_VELOCITY = 600,
+        MAX_ANGLE_ACCELERATION = 500;
+
+    static final TrapezoidProfile.Constraints ANGLE_CONSTRAINTS = new TrapezoidProfile.Constraints(MAX_ANGLE_VELOCITY, MAX_ANGLE_ACCELERATION);
+
+    private static final double
+            ANGLE_MOTOR_P = 1,
+            ANGLE_MOTOR_I = 0,
+            ANGLE_MOTOR_D = 0;
+    static final PIDController ANGLE_PID_CONTROLLER = new PIDController(ANGLE_MOTOR_P, ANGLE_MOTOR_I, ANGLE_MOTOR_D);
+
+    static {
+        configureAngleEncoder();
+        configureShootingMotor();
+        configureAngleMotor();
+    }
+
+    private static void configureShootingMotor() {
+        TalonFXConfiguration config = new TalonFXConfiguration();
+        config.Audio.BeepOnBoot = false;
+        config.Audio.BeepOnConfig = false;
+        config.MotorOutput.Inverted = SHOOTING_MOTOR_INVERTED_VALUE;
+        config.MotorOutput.NeutralMode = SHOOTING_NEUTRAL_MODE_VALUE;
+        SHOOTING_MOTOR.getConfigurator().apply(config);
+    }
+
+    private static void configureAngleMotor() {
+        ANGLE_MOTOR.restoreFactoryDefaults();
+        ANGLE_MOTOR.setIdleMode(ANGLE_MOTOR_IDLE_MODE);
+        ANGLE_MOTOR.setInverted(ANGLE_MOTOR_INVERTED);
+        ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION);
+    }
+
+    private static void configureAngleEncoder() {
+        CANcoderConfiguration config = new CANcoderConfiguration();
+        config.MagnetSensor.AbsoluteSensorRange = ANGLE_ENCODER_RANGE;
+        config.MagnetSensor.MagnetOffset = ANGLE_ENCODER_OFFSET;
+        config.MagnetSensor.SensorDirection = ANGLE_ENCODER_DIRECTION;
+        ANGLE_ENCODER.getConfigurator().apply(config);
+    }
+
+    public enum SideShooter {
+        COLLECTION(new Rotation2d(-15), -5),
+        MIDDLE(new Rotation2d(30), 5),
+        HIGH(new Rotation2d(60), 10);
+
+        final Rotation2d angle;
+        final double power;
+
+        SideShooter(Rotation2d angle, double power) {
+            this.angle = angle;
+            this.power = power;
+        }
+    }
+}
+