Pretty much finished ShooterIOSparkMax, and the build script reformated everything

Author: AntiBlaze1

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

@@ -1,42 +1,38 @@
 package frc.robot.subsystems.shooter;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import edu.wpi.first.wpilibj2.command.FunctionalCommand;
 import edu.wpi.first.wpilibj2.command.RunCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-
 import java.util.function.DoubleSupplier;
+import org.littletonrobotics.junction.Logger;
 
 public class Shooter extends SubsystemBase {
-    private final ShooterIO io;
-
-    public Shooter(ShooterIO io) {
-        this.io=io;
-    }
-
-    @Override public void periodic() {
-    }
-
-
-    public double getVoltage() {
-        return io.getVoltage();
-    }
-
-    public Command runVoltage(DoubleSupplier voltage) {
-        return new RunCommand(
-                ()->io.setVoltage(voltage.getAsDouble()),
-                this
-        );
-    }
-
-    public Command runRPM(DoubleSupplier rpm) {
-        return new RunCommand(
-                ()->io.setRPM(rpm.getAsDouble()),
-                this
-        );
-    }
-
-    public void setPIDGains(double Kp, double Ki, double Kd) {
-        io.setPIDGains(Kp,Ki,Kd);
-    }
+  private final ShooterIO io;
+  private final ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
+
+  public Shooter(ShooterIO io) {
+    this.io = io;
+  }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs("Shooter", inputs);
+  }
+
+  public double getVoltage() {
+    return io.getVoltage();
+  }
+
+  public Command runVoltage(DoubleSupplier voltage) {
+    return new RunCommand(() -> io.setVoltage(voltage.getAsDouble()), this);
+  }
+
+  public Command runRPM(DoubleSupplier rpm) {
+    return new RunCommand(() -> io.setRPM(rpm.getAsDouble()), this);
+  }
+
+  public void setPIDGains(double Kp, double Ki, double Kd) {
+    io.setPIDGains(Kp, Ki, Kd);
+  }
 }

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

@@ -0,0 +1,12 @@
+package frc.robot.subsystems.shooter;
+
+public class ShooterConstants {
+
+  // MOTOR ID'S
+  public static final int FRONT_MOTOR_ID = 0;
+  public static final int BACK_MOTOR_ID = 0;
+
+  // SPEED
+  public static final double MAX_VELOCITY =
+      8; // m/s i think, not sure if this is fast or slow for a shooter
+}

src/main/java/frc/robot/subsystems/shooter/ShooterIO.java

@@ -1,14 +1,30 @@
 package frc.robot.subsystems.shooter;
 
+import org.littletonrobotics.junction.AutoLog;
+
 public interface ShooterIO {
+  @AutoLog
+  public static class ShooterIOInputs { // these were mostly copied from existing input classes
+    public double velocityRPM = 0.0;
+    public double appliedVoltage = 0.0;
+
+    // arrays are used because we have multiple motors
+    public double motorCurrent = 0.0;
+  }
+
+  public default void updateInputs(ShooterIOInputs inputs) {}
+
+  public default void setVoltage(double voltage) {}
 
-    public default void setVoltage(double voltage) {}
+  public default double getVoltage() {
+    return 0;
+  }
 
-    public default double getVoltage() {
-        return 0;
-    }
+  public default void setRPM(double rpm) {}
 
-    public default void setRPM(double rpm) {}
+  public default double getRPM() {
+    return 0;
+  }
 
-    public default void setPIDGains(double Kp, double Ki, double Kd) {}
+  public default void setPIDGains(double Kp, double Ki, double Kd) {}
 }

src/main/java/frc/robot/subsystems/shooter/ShooterIOSparkMax.java

@@ -0,0 +1,91 @@
+package frc.robot.subsystems.shooter;
+
+import static frc.robot.Constants.NEO_CURRENT_LIMIT;
+
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.spark.SparkBase;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkFlexConfig;
+import edu.wpi.first.math.controller.PIDController;
+import org.littletonrobotics.junction.Logger;
+
+public class ShooterIOSparkMax implements ShooterIO {
+  private SparkFlex frontMotor;
+  private SparkFlex backMotor;
+  private RelativeEncoder encoder;
+
+  private PIDController pidController = new PIDController(0, 0, 0);
+
+  public ShooterIOSparkMax() {
+    frontMotor = new SparkFlex(ShooterConstants.FRONT_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
+    backMotor = new SparkFlex(ShooterConstants.BACK_MOTOR_ID, SparkLowLevel.MotorType.kBrushless);
+
+    encoder = frontMotor.getEncoder();
+
+    SparkFlexConfig frontConfig = new SparkFlexConfig();
+
+    frontConfig // I just copied these from CoralIntakeIOSparkMax
+        .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(ShooterIOInputs inputs) {
+    inputs.velocityRPM = getRPM();
+    inputs.appliedVoltage = frontMotor.getAppliedOutput() * frontMotor.getBusVoltage(); // what
+    inputs.motorCurrent =
+        frontMotor
+            .getOutputCurrent(); // You told me that this shouldn't be an array, so I'm guessing
+    // that both motors have the same.
+  }
+
+  @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); // Took this from ElevatorIOSparkMax, hoping this is what I'm supposed to do
+  }
+
+  @Override
+  public double getVoltage() {
+    return frontMotor.getAppliedOutput()
+        * frontMotor
+            .getBusVoltage(); // idk maybe this is it idk what the difference between voltage and
+    // applied voltage is
+  }
+
+  @Override
+  public void setRPM(double rpm) {
+    double voltage = pidController.calculate(getRPM(), rpm);
+
+    frontMotor.setVoltage(voltage);
+  }
+}