Fix stuff

Co-authored-by: Ardian Agoes <ardianagoes@users.noreply.github.com>
Co-authored-by: ilovemarmot <Traceylin023@users.noreply.github.com>
Co-authored-by: jopy-man <jopy-man@users.noreply.github.com>

src/main/java/com/stuypulse/robot/constants/Ports.java

@@ -13,7 +13,7 @@ public interface Gamepad {
         int DEBUGGER = 2;
     }
     public interface Shooter {
-        int LEFT_MOTOR = 1; //CHANGE TO ACTUAL LATER
-        int RIGHT_MOTOR = 2;
+        int LEFT_MOTOR = 20; 
+        int RIGHT_MOTOR = 21;
     }
 }

src/main/java/com/stuypulse/robot/constants/Settings.java

@@ -15,10 +15,9 @@
  * values that we can edit on Shuffleboard.
  */
 public interface Settings {
+    double DT = 0.02;
 
     public interface Shooter {
-        double DT = 0.02; 
-        double GEARING = 9; //change number later 
         double MOMENT_OF_INERTIA = 1;
 
         SmartNumber PODIUM_SHOT_LEFT_RPM = new SmartNumber("Shooter/Podium Shot Right RPM", 0);

src/main/java/com/stuypulse/robot/subsystems/shooter/Shooter.java

@@ -10,39 +10,17 @@
 import edu.wpi.first.wpilibj.RobotBase;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-/* 3 motors (2 side motors, 1 placer motor)
- * 3 encoders 
- * IR sensor 
- * 
- * variables: 
- * leftMotor
- * rightMotor
- * 
- * 
- * leftEncoder
- * rightEncoder
- * 
- * 
- * leftTargetRPM
- * rightTargetRPM
- * 
- * 
- * leftController
- * rightController * 
- * functions: 
- * if IR sensor detects note: stop placer motor, then run again 
- * 
- * commands: 
- * run
- * stop 
- * 
- */
+
 public abstract class Shooter extends SubsystemBase {
 
     private static final Shooter instance;
 
     static {
-        instance = new ShooterImpl();
+        if (RobotBase.isReal()) {
+            instance = new ShooterImpl();
+        } else {
+            instance = new SimShooter();
+        }
     }
 
     public static Shooter getInstance() {
@@ -61,13 +39,9 @@ public Shooter() {
         leftController = new MotorFeedforward(Feedforward.kS, Feedforward.kV, Feedforward.kA).velocity()
                         .add(new PIDController(PID.kP, PID.kI, PID.kD));
         rightController = new MotorFeedforward(Feedforward.kS, Feedforward.kV, Feedforward.kA).velocity()
-                        .add(new PIDController(PID.kP, PID.kI, PID.kD));
-        //controllers here 
+                        .add(new PIDController(PID.kP, PID.kI, PID.kD));  
     }    
 
-    //abstract methods: stop, getLeftRPM,... 
-    //methods: getLeftTargetRPM, getRightTargetRPM, ... setLeftTargetRPM....
-
     public double getLeftTargetRPM() {
         return leftTargetRPM.get();
     }   
@@ -76,11 +50,11 @@ public double getRightTargetRPM() {
         return rightTargetRPM.get();
     } 
 
-    public void setLeftTargetRPM(Number leftTargetRPM){
+    public void setLeftTargetRPM(Number leftTargetRPM) {
         this.leftTargetRPM.set(leftTargetRPM);
     }
 
-    public void setRightTargetRPM(Number rightTargetRPM){
+    public void setRightTargetRPM(Number rightTargetRPM) {
         this.rightTargetRPM.set(rightTargetRPM);
     }
 
@@ -93,6 +67,9 @@ public void setRightTargetRPM(Number rightTargetRPM){
 
     @Override
     public void periodic() {
+        SmartDashboard.putNumber("Shooter/Left Target RPM",getLeftTargetRPM());
+        SmartDashboard.putNumber("Shooter/Right Target RPM", getRightTargetRPM());
+
         leftController.update(getLeftTargetRPM(), getLeftShooterRPM());
         rightController.update(getRightTargetRPM(), getRightShooterRPM());
         setLeftMotorVoltageImpl(leftController.getOutput());

src/main/java/com/stuypulse/robot/subsystems/shooter/ShooterImpl.java

@@ -5,7 +5,6 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.stuypulse.robot.constants.Motors;
 import com.stuypulse.robot.constants.Ports;
-
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 
 public class ShooterImpl extends Shooter {
@@ -16,7 +15,7 @@ public class ShooterImpl extends Shooter {
     private final RelativeEncoder rightEncoder;
 
 
-    public ShooterImpl(){
+    public ShooterImpl() {
         leftMotor = new CANSparkMax(Ports.Shooter.LEFT_MOTOR, MotorType.kBrushless);
         rightMotor = new CANSparkMax(Ports.Shooter.RIGHT_MOTOR, MotorType.kBrushless);
 
@@ -29,8 +28,8 @@ public ShooterImpl(){
 
     @Override
     public void stop() {
-        setLeftTargetRPM(0);
-        setRightTargetRPM(0);
+        leftMotor.setVoltage(0);
+        rightMotor.setVoltage(0);
     }
 
     @Override
@@ -44,20 +43,17 @@ public double getRightShooterRPM() {
     }
 
     @Override
-    public void setLeftMotorVoltageImpl(double voltage){
+    public void setLeftMotorVoltageImpl(double voltage) {
         leftMotor.setVoltage(voltage);
     }
 
     @Override
-    public void setRightMotorVoltageImpl(double voltage){
+    public void setRightMotorVoltageImpl(double voltage) {
         rightMotor.setVoltage(voltage);
     }
 
     @Override
-    public void periodicallyCalled() {
-        SmartDashboard.putNumber("Shooter/Left Target RPM",getLeftTargetRPM());
-        SmartDashboard.putNumber("Shooter/Right Target RPM", getRightTargetRPM());
-
+    public void periodicallyCalled() {        
         SmartDashboard.putNumber("Shooter/Right RPM", getRightShooterRPM());
         SmartDashboard.putNumber("Shooter/Left RPM", getLeftShooterRPM());
 

src/main/java/com/stuypulse/robot/subsystems/shooter/SimShooter.java

@@ -2,7 +2,6 @@
 
 import com.stuypulse.stuylib.network.SmartNumber;
 import com.stuypulse.robot.constants.Settings;
-
 import edu.wpi.first.math.system.plant.DCMotor;
 import edu.wpi.first.wpilibj.simulation.FlywheelSim;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -12,11 +11,10 @@ public class SimShooter extends Shooter {
     private FlywheelSim rightWheel;
 
     public SimShooter() {
-
-        leftWheel = new FlywheelSim(DCMotor.getNEO(1), Settings.Shooter.GEARING, Settings.Shooter.MOMENT_OF_INERTIA);
-        rightWheel = new FlywheelSim(DCMotor.getNEO(1), Settings.Shooter.GEARING, Settings.Shooter.MOMENT_OF_INERTIA);
-
+        leftWheel = new FlywheelSim(DCMotor.getNEO(1), 1, Settings.Shooter.MOMENT_OF_INERTIA);
+        rightWheel = new FlywheelSim(DCMotor.getNEO(1), 1, Settings.Shooter.MOMENT_OF_INERTIA);
     }
+
     public void stop() {
         leftWheel.setInputVoltage(0);
         rightWheel.setInputVoltage(0);
@@ -25,6 +23,7 @@ public void stop() {
     public double getLeftShooterRPM() {
         return leftWheel.getAngularVelocityRPM();
     }
+
     public double getRightShooterRPM() {
         return rightWheel.getAngularVelocityRPM();
     }
@@ -39,15 +38,14 @@ public void setLeftMotorVoltageImpl(double voltage) {
 
     @Override
     public void simulationPeriodic() {
-        leftWheel.update(Settings.Shooter.DT);
-        rightWheel.update(Settings.Shooter.DT);
+        leftWheel.update(Settings.DT);
+        rightWheel.update(Settings.DT);
 
         SmartDashboard.putNumber("Shooter/Left Target RPM",getLeftTargetRPM());
         SmartDashboard.putNumber("Shooter/Right Target RPM", getRightTargetRPM());
 
         SmartDashboard.putNumber("Shooter/Right RPM", getRightShooterRPM());
         SmartDashboard.putNumber("Shooter/Left RPM", getLeftShooterRPM());
-
     }
 
 }