hopper stuff

Author: BlockOfWood

src/main/java/frc/robot/Constants.java

@@ -24,6 +24,11 @@ public static class ShooterConstants {
     public static final int HOODID = 9;
   }
 
+  public final class HopperConstants {
+
+    public static final int HOPPERID = 13;
+  }
+
   public static enum Mode {
     /** Running on a real robot. */
     REAL,

src/main/java/frc/robot/RobotContainer.java

@@ -18,6 +18,7 @@
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.commands.DriveCommands;
 import frc.robot.generated.TunerConstants;
+import frc.robot.subsystems.Hopper.Hopper;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.GyroIO;
 import frc.robot.subsystems.drive.GyroIONavX;
@@ -36,7 +37,7 @@
 public class RobotContainer {
   // Subsystems
   private final Drive drive;
-
+    private final Hopper hopper;
   // Controller
   private final CommandXboxController controller = new CommandXboxController(0);
 
@@ -168,9 +169,12 @@ private void configureButtonBindings() {
                     drive)
                 .ignoringDisable(true));
 
-    controller.rightBumper().onFalse(m_Shooter.PIDCMD(500));
-    controller.rightBumper().onTrue(m_Shooter.PIDCMD(0));
-  }
+    controller.leftBumper().onFalse(m_Shooter.PIDCMD(500));
+    controller.leftBumper().onTrue(m_Shooter.PIDCMD(0));
+    controller.rightBumper().onFalse(Commands.parallel(hopper.StopCMD(), m_Shooter.PIDCMD(0)));
+    controller.rightBumper().onTrue(Commands.parallel(hopper.SpinCMD(), m_Shooter.PIDCMD(500)));
+
+  
 
   /**
    * Use this to pass the autonomous command to the main {@link Robot} class.

src/main/java/frc/robot/commands/Shooter_Hopper.java

@@ -0,0 +1,22 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
+import frc.robot.subsystems.Hopper.Hopper;
+import frc.robot.subsystems.shooter.Shooter;
+
+// NOTE:  Consider using this command inline, rather than writing a subclass.  For more
+// information, see:
+// https://docs.wpilib.org/en/stable/docs/software/commandbased/convenience-features.html
+public class Shooter_Hopper extends ParallelCommandGroup {
+  /** Creates a new Shooter_Hopper. */
+  public Shooter_Hopper(Hopper mHopper, Shooter mShooter) {
+
+    // Add your commands in the addCommands() call, e.g.
+    // addCommands(new FooCommand(), new BarCommand());
+    addCommands(mHopper.SpinCMD(), mShooter.PIDCMD(0));
+  }
+}

src/main/java/frc/robot/subsystems/Hopper/Hopper.java

@@ -0,0 +1,53 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.subsystems.Hopper;
+
+import com.revrobotics.PersistMode;
+import com.revrobotics.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import edu.wpi.first.wpilibj.DriverStation;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.Constants;
+
+public class Hopper extends SubsystemBase {
+  /** Creates a new Hopper. */
+  SparkMax Hopper = new SparkMax(Constants.HopperConstants.HOPPERID, MotorType.kBrushless);
+
+  public Hopper() {
+    SparkMaxConfig config = new SparkMaxConfig();
+    config.smartCurrentLimit(50).idleMode(IdleMode.kCoast);
+
+    // Persist parameters to retain configuration in the event of a power cycle
+    Hopper.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
+  }
+
+  public Command SpinCMD() {
+
+    return runOnce(
+        () -> {
+          Hopper.set(1);
+          DriverStation.reportWarning("StartHopper", false);
+        });
+  }
+
+  public Command StopCMD() {
+
+    return runOnce(
+        () -> {
+          Hopper.set(0);
+          DriverStation.reportWarning("StopHopper", false);
+        });
+  }
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+
+  }
+}

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

@@ -14,6 +14,7 @@
 import com.revrobotics.spark.SparkMax;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -61,10 +62,11 @@ public Shooter() {
   public Command PIDCMD(double newTargetRPM) {
 
     targetRPM = newTargetRPM;
-    //SmartDashboard.putNumber("PID/Shooter/Target RPM", newTargetRPM);
+    // SmartDashboard.putNumber("PID/Shooter/Target RPM", newTargetRPM);
 
     return runOnce(
         () -> {
+          DriverStation.reportWarning("Shooter", false);
           shootController.setSetpoint(newTargetRPM, ControlType.kVelocity);
         });
   }