sparkmax

added some sparkmax

Author: Ning-NJ

.gradle/8.11/checksums/checksums.lock

@@ -1,6 +1,8 @@
+package frc.robot.subsystems.intake;
 import org.littletonrobotics.junction.AutoLog;
 
-public class IntakeIO {
+public interface IntakeIO {
+ {
     public static class IntakeIOInputs {
     public double velocityRadsPerSec = 0.0;
 
@@ -14,7 +16,7 @@ public void updateInputs(IntakeIOInputs inputs) {}
 
   public void setVoltage(double voltage) {}
 
-  public double getVelocity() {
+  public double getVoltage() {
     return 0;
   }
   public void setDirection(boolean forward){}

bin/main/frc/robot/Robot.class

@@ -1,3 +1,88 @@
-public class IntakeIOSparkMax {
-    
+package frc.robot.subsystems.intake;
+
+import static frc.robot.Constants.NEO_CURRENT_LIMIT;
+
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.spark.SparkBase;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkFlexConfig;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.trajectory.TrapezoidProfile;
+import edu.wpi.first.wpilibj.DigitalInput;
+import org.littletonrobotics.junction.Logger;
+
+public class IntakeIOSparkMax implements IntakeIO{
+    private SparkFlex frontMotor;
+  private SparkFlex backMotor;
+  private RelativeEncoder encoder;
+
+  private ProfiledPIDController pidController = new ProfiledPIDController(0, 0, 0, new TrapezoidProfile.Constraints(MAX_VELOCITY,MAX_ACCERLERATION));
+
+  public IntakeIOSparkMax() {
+    frontMotor = new SparkFlex(IntakeConstants.FRONT_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
+    backMotor = new SparkFlex(IntakeConstants.BACK_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
+
+    encoder = frontMotor.getEncoder();
+
+    SparkFlexConfig frontConfig = new SparkFlexConfig();
+
+    frontConfig 
+        .idleMode(SparkBaseConfig.IdleMode.kBrake)
+        .voltageCompensation(12)
+        .smartCurrentLimit(NEO_CURRENT_LIMIT);
+
+    SparkFlexConfig backConfig = new SparkFlexConfig();
+
+    backConfig.apply(frontConfig);
+    backConfig.follow(frontMotor);
+
+    frontMotor.configure(frontConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters);
+    backMotor.configure(backConfig, SparkBase.ResetMode.kResetSafeParameters, SparkBase.PersistMode.kPersistParameters);
+  }
+
+  @Override
+  public void updateInputs(IntakeIOInputs inputs) {
+    inputs.velocityRPM = getRPM();
+    inputs.appliedVoltage = frontMotor.getAppliedOutput() * frontMotor.getBusVoltage(); 
+    inputs.motorCurrent =frontMotor.getOutputCurrent(); 
+  }
+
+  @Override
+  public double getRPM() {
+    return encoder.getVelocity();
+  }
+
+  @Override
+  public void setPIDGains(double Kp, double Ki, double Kd) {
+    pidController.setPID(Kp, Ki, Kd);
+  }
+
+  @Override
+  public void setVoltage(double voltage) {
+    frontMotor.setVoltage(voltage);
+    Logger.recordOutput("Shooter/Set Voltage", voltage); 
+  }
+
+  @Override
+  public double getVoltage() {
+    return frontMotor.getAppliedOutput() * frontMotor.getBusVoltage(); 
+  }
+
+  @Override
+  public void setRPM(double rpm) {
+    double voltage = pidController.calculate(getRPM(), rpm); 
+    frontMotor.setVoltage(voltage);
+  }
+  @Override
+  public void setDirection(boolean forward){
+    frontMotor.setInverted(forward);
+  }
 }
+