Miniberty

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

@@ -0,0 +1,84 @@
+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;
+
+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 = true;
+    private static final SensorDirectionValue ANGLE_ENCODER_INVERTED = SensorDirectionValue.Clockwise_Positive;
+
+    private static final NeutralModeValue SHOOTING_NEUTRAL_MODE_VALUE = NeutralModeValue.Brake;
+    private static final CANSparkMax.IdleMode ANGLE_MOTOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake;
+
+    static final TalonFX SHOOTING_MOTOR = new TalonFX(SHOOTING_MOTOR_ID);
+    static final CANSparkMax ANGLE_MOTOR = new CANSparkMax(ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
+    static final CANcoder ANGLE_ENCODER = new CANcoder(ANGLE_ENCODER_ID);
+
+    private static final double
+            P = 1,
+            I = 0,
+            D = 0;
+    static final PIDController PID_CONTROLLER = new PIDController(P, I, 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_INVERTED;
+        ANGLE_ENCODER.getConfigurator().apply(config);
+    }
+
+    enum SideShooter{
+            COLLECTOR(-15, -5),
+            MIDDLE(30, 5),
+            HIGH(60, 10);
+
+            private double angle, power;
+
+            SideShooter(double angle, double power) {
+                this.angle = angle;
+                this.power = power;
+            }
+    }
+}
+