Test shooter subsystem

src/main/java/org/wildstang/year2024/robot/CANConstants.java

@@ -17,7 +17,7 @@ public final class CANConstants {
     //Gyro and CAN sensor values
     public static final int GYRO = 31;
 
-    //swerve constants
+    // swerve constants
     public static final int DRIVE1 = 11;
     public static final int ANGLE1 = 12;
     public static final int DRIVE2 = 13;
@@ -26,5 +26,8 @@ public final class CANConstants {
     public static final int ANGLE3 = 16;
     public static final int DRIVE4 = 17;
     public static final int ANGLE4 = 18;
-
+
+    // shooter constants
+    public static final int SHOOTER1 = 23;
+    public static final int SHOOTER2 = 24;
 }

src/main/java/org/wildstang/year2024/robot/WsOutputs.java

@@ -26,7 +26,9 @@ public enum WsOutputs implements Outputs {
     ANGLE3("Module 3 Angle Motor", new WsSparkConfig(CANConstants.ANGLE3, WsMotorControllers.SPARK_MAX_BRUSHLESS)),
     DRIVE4("Module 4 Drive Motor", new WsSparkConfig(CANConstants.DRIVE4, WsMotorControllers.SPARK_FLEX_BRUSHLESS)),
     ANGLE4("Module 4 Angle Motor", new WsSparkConfig(CANConstants.ANGLE4, WsMotorControllers.SPARK_MAX_BRUSHLESS)),
-
+    //these two shooters should be a SPARK_FLEX_BRUSHLESS instead of a MAX
+    SHOOTER1("First shooter motor", new WsSparkConfig(CANConstants.SHOOTER1, WsMotorControllers.SPARK_FLEX_BRUSHLESS)),
+    SHOOTER2("Second shooter motor", new WsSparkConfig(CANConstants.SHOOTER2, WsMotorControllers.SPARK_FLEX_BRUSHLESS))
     // ---------------------------------
     // Other Motors
     // ---------------------------------

src/main/java/org/wildstang/year2024/subsystems/shooter/Shooter.java

@@ -0,0 +1,86 @@
+package org.wildstang.year2024.subsystems.shooter;
+import org.wildstang.framework.core.Core;
+import org.wildstang.framework.io.inputs.DigitalInput;
+import org.wildstang.framework.io.inputs.Input;
+import org.wildstang.framework.subsystems.Subsystem;
+import org.wildstang.hardware.roborio.outputs.WsSpark;
+import org.wildstang.year2024.robot.WsInputs;
+import org.wildstang.year2024.robot.WsOutputs;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class Shooter implements Subsystem {
+    private WsSpark shooterMotor1;
+    private WsSpark shooterMotor2;
+    private double shooterSpeed = 0.5;
+    private DigitalInput leftBumper;
+    private DigitalInput dpadRight;
+    private DigitalInput dpadLeft;
+    private boolean leftBumperPressed = false;
+
+    @Override
+    public void inputUpdate(Input source) {
+        if (source == leftBumper && leftBumper.getValue()){
+            leftBumperPressed = true;
+        }
+        else{
+            leftBumperPressed = false;
+        }
+        if (source == dpadRight && dpadRight.getValue()){
+            shooterSpeed += 0.05;
+        }
+        if (source == dpadLeft && dpadLeft.getValue()){
+            shooterSpeed -= 0.05;
+        }
+    }
+
+    @Override
+    public void init() {
+        shooterMotor1 = (WsSpark) Core.getOutputManager().getOutput(WsOutputs.SHOOTER1);
+        shooterMotor2 = (WsSpark) Core.getOutputManager().getOutput(WsOutputs.SHOOTER2);
+        leftBumper = (DigitalInput) Core.getInputManager().getInput(WsInputs.DRIVER_LEFT_SHOULDER);
+        leftBumper.addInputListener(this);
+        //remember to add .addInputListener(this) for all inputs (including dpadUp and dpadDown)
+        dpadRight = (DigitalInput) Core.getInputManager().getInput(WsInputs.OPERATOR_DPAD_UP);
+        dpadRight.addInputListener(this);
+        dpadLeft = (DigitalInput) Core.getInputManager().getInput(WsInputs.OPERATOR_DPAD_DOWN);
+        dpadLeft.addInputListener(this);
+
+
+    }
+
+    @Override
+    public void selfTest() {
+    }
+
+    @Override
+    public void update() {
+        if (leftBumperPressed){
+            shooterMotor1.setSpeed(shooterSpeed);
+            shooterMotor2.setSpeed(shooterSpeed);
+        }
+        //you can use else instead of this
+        else{
+            shooterMotor1.setSpeed(0);
+            shooterMotor2.setSpeed(0);
+        }
+        SmartDashboard.putNumber("shooter speed", shooterSpeed);
+
+    }
+
+    public void setShooterSpeed(double speed){
+        shooterSpeed = speed;
+        leftBumperPressed = true;
+    }
+
+    @Override
+    public void resetState() {
+    }
+
+    @Override
+    public String getName() {
+        //make sure to include a name in this file
+        return "shooter";
+    }
+
+}