still need to figure out linear system

Author: raghavmani0129

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

@@ -5,6 +5,9 @@ public class ShooterConstants {
     public static double kI = 0.0;
     public static double kD = 0.0;
 
+    public static double kV = 0.2; // Volts per (RPM)
+    public static double kA = 0.1; // Volts per (RPM/s)
+
     public static final double MAX_VELOCITY = 5000.0; 
     public static final double MAX_ACCELERATION = 3000.0;
 

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

@@ -5,18 +5,34 @@
 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.LinearSystem;
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.math.trajectory.TrapezoidProfile;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
-
+import org.littletonrobotics.junction.AutoLog;
+import org.littletonrobotics.junction.Logger;
 
 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)
+        if (leftSetpointRPM != null) {
+            leftAppliedVolts =
+            pidController.calculate(leftSim.getAngularVelocityRPM(), leftSetpointRPM)
+                + leftFF.calculate(leftSetpointRPM);
+            leftSim.setInputVoltage(MathUtil.clamp(leftAppliedVolts, -12.0, 12.0));
+            Logger.recordOutput("Shooter Voltage Left", MathUtil.clamp(leftAppliedVolts, -12.0, 12.0));
+        } // if the value is NOT null - calculate what the applied voltage should be and record it accordingly
+
+        if (rightSetpointRPM != null) {
+            rightAppliedVolts =
+            pidController.calculate(rightSim.getAngularVelocityRPM(), rightSetpointRPM)
+                + rightFF.calculate(rightSetpointRPM);
+            rightSim.setInputVoltage(MathUtil.clamp(rightAppliedVolts, -12.0, 12.0));
+            Logger.recordOutput("Shooter Voltage Right", MathUtil.clamp(rightAppliedVolts, -12.0, 12.0));
+        } // if the value is NOT null - calculate what the applied voltage should be and record it accordingly
     }
     private double leftAppliedVolts = 0.0;
     private double rightAppliedVolts = 0.0;
@@ -35,9 +51,13 @@ public void updateInputs(ShooterIOInputs inputs) {
         )
     );
 
-    FlywheelSim rightSim = new FlywheelSim(null, DCMotor.getNeoVortex(1), 6.7);
+
+    FlywheelSim rightSim = new FlywheelSim(system, DCMotor.getNeoVortex(1), 6.7);
     FlywheelSim leftSim = new FlywheelSim(null, DCMotor.getNeoVortex(1), 6.7);
 
+    //what is a linear system + why do we need it
+
+
     private SimpleMotorFeedforward leftFF = new SimpleMotorFeedforward(0.0, 0.0, 0.0);
     private SimpleMotorFeedforward rightFF = new SimpleMotorFeedforward(0.0, 0.0, 0.0);