Azoulay

src/main/java/SideShooter/SideShooterConstants.java

@@ -0,0 +1,89 @@
+package 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 int SHOOTING_MOTOR_ID = 0;
+    private static final int ANGLE_MOTOR_ID = 0;
+    private static final int ENCODER_ID = 0;
+    private static final double ANGLE_MAGNET_OFFSET = 0;
+    private static final CANSparkMax.IdleMode ANGLE_MOTOR_IDLE_MODE = CANSparkMax.IdleMode.kBrake;
+    private static final AbsoluteSensorRangeValue ANGEL_ENCODER_VALUE = AbsoluteSensorRangeValue.Signed_PlusMinusHalf;
+    private static final SensorDirectionValue ANGLE_ENCODER_SENSOR_DIRECTION = SensorDirectionValue.CounterClockwise_Positive;
+    private static final InvertedValue SHOOTER_INVERTED_VALUE = InvertedValue.CounterClockwise_Positive;
+    private static final NeutralModeValue SHOOTING_NEUTRAL_MODE_VALUE = NeutralModeValue.Brake;
+    private static final double VOLTAGE_COMPENSATION_SATURATION = 16.45;
+    private static final boolean ANGLE_MOTOR_INVERTED = false;
+    static final TalonFX SHOOTING_MOTOR = new TalonFX(SHOOTING_MOTOR_ID);
+    static final CANSparkMax ANGLE_MOTOR = new CANSparkMax(ANGLE_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless);
+    private static final CANcoder ANGLE_ENCODER = new CANcoder(ENCODER_ID);
+
+    private static final double
+            MAX_ANGEL_VELOCITY = 600,
+            MAX_ANGEL_ACCELERATION = 500;
+    static final TrapezoidProfile.Constraints ANGLE_Constraints = new TrapezoidProfile.Constraints(
+            MAX_ANGEL_VELOCITY, MAX_ANGEL_ACCELERATION
+    );
+
+    private static final int
+            ANGLE_MOTOR_P = 0,
+            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();
+        configureAngleMotor();
+        configureShootingMotor();
+    }
+
+    private static void configureShootingMotor() {
+        TalonFXConfiguration config = new TalonFXConfiguration();
+        config.Audio.BeepOnBoot = false;
+        config.MotorOutput.Inverted = SHOOTER_INVERTED_VALUE;
+        config.MotorOutput.NeutralMode = SHOOTING_NEUTRAL_MODE_VALUE;
+        config.Audio.BeepOnConfig = false;
+        SHOOTING_MOTOR.getConfigurator().apply(config);
+    }
+
+    private static void configureAngleMotor() {
+        ANGLE_MOTOR.restoreFactoryDefaults();
+        ANGLE_MOTOR.setInverted(ANGLE_MOTOR_INVERTED);
+        ANGLE_MOTOR.setIdleMode(ANGLE_MOTOR_IDLE_MODE);
+        ANGLE_MOTOR.enableVoltageCompensation(VOLTAGE_COMPENSATION_SATURATION);
+    }
+
+    private static void configureAngleEncoder() {
+        CANcoderConfiguration configureAngleMotor = new CANcoderConfiguration();
+        configureAngleMotor.MagnetSensor.AbsoluteSensorRange = ANGEL_ENCODER_VALUE;
+        configureAngleMotor.MagnetSensor.MagnetOffset = ANGLE_MAGNET_OFFSET;
+        configureAngleMotor.MagnetSensor.SensorDirection = ANGLE_ENCODER_SENSOR_DIRECTION;
+        ANGLE_ENCODER.getConfigurator().apply(configureAngleMotor);
+    }
+
+    public enum SideShooterState {
+        COLLECT_POSITION(Rotation2d.fromDegrees(0)),
+        MID_LEVEL_POSITION(Rotation2d.fromDegrees(222)),
+        HIGH_LEVEL_POSITION(Rotation2d.fromDegrees(666.3));
+        private Rotation2d angel;
+
+        SideShooterState(Rotation2d angel) {
+            this.angel = angel;
+
+
+        }
+    }
+}