ShooterIOSim frist updates

Author: raghavmani0129

.gradle/8.11/checksums/checksums.lock

@@ -8,4 +8,7 @@ public class ShooterConstants {
     public static final double MAX_VELOCITY = 5000.0; 
     public static final double MAX_ACCELERATION = 3000.0;
 
+    public static double flywheelReduction = 1.0; // Gear reduction ratio
+    public static double momentOfInertia = 0.1; // Moment of inertia of the flywheel
+
 }

bin/main/frc/robot/Robot.class

@@ -1,5 +1,78 @@
 package frc.robot.subsystems.Shooter;
 
-public class ShooterIOSim {
-    
+
+
+import edu.wpi.first.math.MathUtil;
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+
+
+import edu.wpi.first.math.util.Units;
+
+public class ShooterIOSim implements ShooterIO {
+    public void updateInputs(ShooterIOInputs inputs) {
+        leftSim.update(0.020);
+        rightSim.update(0.020);
+        //need to figure out simpler way for if statements (verbose site)
+    }
+    private double leftAppliedVolts = 0.0;
+    private double rightAppliedVolts = 0.0;
+
+    private Double leftSetpointRPM = null;
+    private Double rightSetpointRPM = null;
+
+
+    private ProfiledPIDController pidController = new ProfiledPIDController(
+        ShooterConstants.kP,
+        ShooterConstants.kI,
+        ShooterConstants.kD,
+        new TrapezoidProfile.Constraints(
+            ShooterConstants.MAX_VELOCITY,
+            ShooterConstants.MAX_ACCELERATION
+        )
+    );
+
+    FlywheelSim rightSim = new FlywheelSim(null, DCMotor.getNeoVortex(1), 6.7);
+    FlywheelSim leftSim = new FlywheelSim(null, DCMotor.getNeoVortex(1), 6.7);
+
+    private SimpleMotorFeedforward leftFF = new SimpleMotorFeedforward(0.0, 0.0, 0.0);
+    private SimpleMotorFeedforward rightFF = new SimpleMotorFeedforward(0.0, 0.0, 0.0);
+
+ 
+    @Override
+    public void setFeedForwardGains(double kS, double kV, double kA) {
+        leftFF = new SimpleMotorFeedforward(kS, kV, kA);
+        rightFF = new SimpleMotorFeedforward(kS, kV, kA);
+    }
+
+    @Override
+    public void setVoltage(double voltage) {
+        rightSetpointRPM = null;
+        rightAppliedVolts = MathUtil.clamp(voltage, -12.0, 12.0);
+        rightSim.setInputVoltage(rightAppliedVolts);
+
+        leftSetpointRPM = null;
+        leftAppliedVolts = MathUtil.clamp(voltage, -12.0, 12.0);
+        leftSim.setInputVoltage(rightAppliedVolts);
+    }
+
+    @Override
+    public void setPIDGains(double kP, double kI, double kD) {
+        pidController.setP(kP);
+        pidController.setI(kI);
+        pidController.setD(kD);
+    }
+
+    @Override
+    public void setRPM(double rpm){
+        leftSetpointRPM = rpm;
+        rightSetpointRPM = rpm;
+        //is it really this simple??
+    }
+
+
+
 }

src/main/java/frc/robot/subsystems/Shooter/ShooterConstants.java

@@ -74,20 +74,6 @@ public void setVoltage(double voltage) {
         leftMotor.setVoltage(voltage);
         rightMotor.setVoltage(voltage);
     }
-    @Override
-    public void setP(double kP) {
-        pidController.setP(kP);
-    }
-
-    @Override
-    public void setI(double kI) {
-        pidController.setI(kI);
-    }
-    
-    @Override
-    public void setD(double kD) {
-        pidController.setD(kD);
-    }
 
     @Override
     public void setPIDGains(double kP, double kI, double kD) {