Transporter (#3)

* added Transporter package and Transporter subsystem

* added TransporterConstants and TransporterCommands

* Update Transporter.java

* added code to transporterConstants

* created getSetMotorOutputCommand(not finished).)

* changed talonsrx to wpi talonsrx

* added 3 states at which the transporter can be in collect eject and rest

* enabled Voltage compensation

* Update TransporterConstants.java

* Update TransporterCommands.java

* Update TransporterConstants.java

* Update TransporterCommands.java

* changed enum to use proper voltage percentage

* changed getSetMotorOutputCommand from a functional command to a startend command

* Update Transporter.java

Author: ShmayaR

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

@@ -7,22 +7,22 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.subsystems.Transporter.Transporter;
 
 
+public class RobotContainer {
+    public static final Transporter TRANSPORTER = new Transporter();
 
-public class RobotContainer
-{
-    public RobotContainer()
-    {
+    public RobotContainer() {
         configureBindings();
     }
-    
-    
-    private void configureBindings() {}
-    
-    
-    public Command getAutonomousCommand()
-    {
+
+
+    private void configureBindings() {
+    }
+
+
+    public Command getAutonomousCommand() {
         return Commands.print("No autonomous command configured");
     }
 }

src/main/java/frc/robot/subsystems/Transporter/Transporter.java

@@ -0,0 +1,20 @@
+package frc.robot.subsystems.Transporter;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Transporter extends SubsystemBase {
+    private final TalonSRX rightMotor = TransporterConstants.RIGHT_MOTOR;
+    private final TalonSRX leftMotor = TransporterConstants.LEFT_MOTOR;
+
+    void stopMotors() {
+        setTargetPercentageVoltageOutput(0);
+    }
+
+    void setTargetPercentageVoltageOutput(double percentageMotorOutput) {
+        rightMotor.set(ControlMode.PercentOutput, percentageMotorOutput);
+        leftMotor.set(ControlMode.PercentOutput, percentageMotorOutput);
+    }
+}
+

src/main/java/frc/robot/subsystems/Transporter/TransporterCommands.java

@@ -0,0 +1,19 @@
+package frc.robot.subsystems.Transporter;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.StartEndCommand;
+import frc.robot.RobotContainer;
+
+public class TransporterCommands {
+    public static Command getSetTargetStateCommand(TransporterConstants.TransporterState targetState) {
+        return getSetMotorOutputCommand(targetState.targetMotorOutput);
+    }
+
+    private static Command getSetMotorOutputCommand(double motorOutput) {
+        return new StartEndCommand(
+                () -> RobotContainer.TRANSPORTER.setTargetPercentageVoltageOutput(motorOutput),
+                RobotContainer.TRANSPORTER::stopMotors,
+                RobotContainer.TRANSPORTER
+        );
+    }
+}

src/main/java/frc/robot/subsystems/Transporter/TransporterConstants.java

@@ -0,0 +1,55 @@
+package frc.robot.subsystems.Transporter;
+
+import com.ctre.phoenix.motorcontrol.InvertType;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
+
+public class TransporterConstants {
+    private static final int
+            RIGHT_MOTOR_ID = 1,
+            LEFT_MOTOR_ID = 2;
+
+    static final WPI_TalonSRX
+            RIGHT_MOTOR = new WPI_TalonSRX(RIGHT_MOTOR_ID),
+            LEFT_MOTOR = new WPI_TalonSRX(LEFT_MOTOR_ID);
+
+    private static final InvertType RIGHT_MOTOR_INVERTED_VALUE = InvertType.None;
+    private static final InvertType LEFT_MOTOR_INVERTED_VALUE = InvertType.InvertMotorOutput;
+    private static final NeutralMode NEUTRAL_MODE = NeutralMode.Coast;
+    private static final double VOLTAGE_COMPENSATION_VALUE = 12;
+
+    static {
+        configureRightMotor();
+        configureLeftMotor();
+    }
+
+    private static final void configureRightMotor() {
+        RIGHT_MOTOR.configFactoryDefault();
+
+        RIGHT_MOTOR.setInverted(RIGHT_MOTOR_INVERTED_VALUE);
+        RIGHT_MOTOR.setNeutralMode(NEUTRAL_MODE);
+        RIGHT_MOTOR.enableVoltageCompensation(true);
+        RIGHT_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_VALUE);
+    }
+
+    private static final void configureLeftMotor() {
+        LEFT_MOTOR.configFactoryDefault();
+
+        LEFT_MOTOR.setInverted(LEFT_MOTOR_INVERTED_VALUE);
+        LEFT_MOTOR.setNeutralMode(NEUTRAL_MODE);
+        LEFT_MOTOR.enableVoltageCompensation(true);
+        LEFT_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_VALUE);
+    }
+
+    public enum TransporterState {
+        COLLECT(0.5),
+        EJECT(-0.5),
+        REST(0);
+
+        final double targetMotorOutput;
+
+        TransporterState(double setTransporterState) {
+            this.targetMotorOutput = setTransporterState;
+        }
+    }
+}