Merge branch 'main' into intake

Author: noamgreen12

.github/workflows/gradle.yml

@@ -0,0 +1,36 @@
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+# This workflow will build a Java project with Gradle and cache/restore any dependencies to improve the workflow execution time
+# For more information see: https://docs.github.com/en/actions/automating-builds-and-tests/building-and-testing-java-with-gradle
+
+name: Java CI with Gradle
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+    branches: [ "main" ]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v3
+    - name: Set up JDK 17
+      uses: actions/setup-java@v3
+      with:
+        java-version: '17'
+        distribution: 'temurin'
+    - name: Grant execute permission for gradlew
+      run: chmod +x gradlew
+    - name: Build with Gradle
+      uses: gradle/gradle-build-action@67421db6bd0bf253fb4bd25b31ebb98943c375e1
+      with:
+        arguments: build

.github/workflows/linter.yml

@@ -0,0 +1,58 @@
+---
+#################################
+#################################
+## Super Linter GitHub Actions ##
+#################################
+#################################
+name: Lint Code Base
+
+#
+# Documentation:
+# https://docs.github.com/en/actions/learn-github-actions/workflow-syntax-for-github-actions
+#
+
+#############################
+# Start the job on all push #
+#############################
+on:
+  push:
+    branches-ignore: [master, main]
+    # Remove the line above to run when pushing to master
+  pull_request:
+    branches: [master, main]
+
+###############
+# Set the Job #
+###############
+jobs:
+  build:
+    # Name the Job
+    name: Lint Code Base
+    # Set the agent to run on
+    runs-on: ubuntu-latest
+
+    ##################
+    # Load all steps #
+    ##################
+    steps:
+      ##########################
+      # Checkout the code base #
+      ##########################
+      - name: Checkout Code
+        uses: actions/checkout@v3
+        with:
+          # Full git history is needed to get a proper
+          # list of changed files within `super-linter`
+          fetch-depth: 0
+      ################################
+      # Run Linter against code base #
+      ################################
+      - name: Lint Code Base
+        uses: github/super-linter/slim@v4
+        env:
+          VALIDATE_ALL_CODEBASE: false
+          VALIDATE_EDITORCONFIG: true
+          # Change to 'master' if your main branch differs
+          DEFAULT_BRANCH: main
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          

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

@@ -8,10 +8,14 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import frc.robot.subsystems.Intake.Intake;
+import frc.robot.subsystems.Transporter.Transporter;
+
 
 
 public class RobotContainer {
     public static final Intake INTAKE = new Intake();
+    public static final Transporter TRANSPORTER = new Transporter();
+
 
     public RobotContainer() {
         configureBindings();

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;
+        }
+    }
+}