Finished all subsystems and most commands

Author: Bachthoven

build.gradle

@@ -66,9 +66,6 @@ dependencies {
     nativeRelease wpi.java.deps.wpilibJniRelease(wpi.platforms.desktop)
     nativeRelease wpi.java.vendor.jniRelease(wpi.platforms.desktop)
     simulationRelease wpi.sim.enableRelease()
-
-    testImplementation 'org.junit.jupiter:junit-jupiter:5.10.1'
-    testRuntimeOnly 'org.junit.platform:junit-platform-launcher'
 }
 
 test {
@@ -98,4 +95,4 @@ wpi.java.configureTestTasks(test)
 // Configure string concat to always inline compile
 tasks.withType(JavaCompile) {
     options.compilerArgs.add '-XDstringConcat=inline'
-}
+}

gradle/wrapper/gradle-wrapper.properties

@@ -4,4 +4,4 @@ distributionUrl=https\://services.gradle.org/distributions/gradle-8.5-bin.zip
 networkTimeout=10000
 validateDistributionUrl=true
 zipStoreBase=GRADLE_USER_HOME
-zipStorePath=permwrapper/dists
+zipStorePath=permwrapper/dists

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

@@ -0,0 +1,48 @@
+// 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.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.HangerSubsystem;
+
+public class RunJoystickHanger extends Command {
+    private final HangerSubsystem hanger;
+    private final XboxController controller;
+
+    public RunJoystickHanger(HangerSubsystem hangerSubsystem, XboxController ctrl) {
+        this.hanger = hangerSubsystem;
+        this.controller = ctrl;
+        addRequirements(hanger);
+    }
+
+    @Override
+    public void initialize() {
+        hanger.coast();
+    }
+
+    @Override
+    public void execute() {
+        if (controller.getRightBumper()) {
+            hanger.setSpeed(0.5);
+        } else if (controller.getLeftBumper()) {
+            hanger.setSpeed(-0.5);
+        } else {
+            hanger.setSpeed(0);
+            hanger.removeDefaultCommand();
+        }
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        hanger.brake();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

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

@@ -0,0 +1,47 @@
+// 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.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.HandoffSubsystem;
+import frc.robot.subsystems.IntakeSubsystem;
+
+public class RunJoystickIntakeHandoff extends Command {
+    private final HandoffSubsystem handoff;
+    private final IntakeSubsystem intake;
+    private final XboxController controller;
+
+    public RunJoystickIntakeHandoff(HandoffSubsystem handoffSubsystem, IntakeSubsystem intakeSubsystem, XboxController ctrl) {
+        this.handoff = handoffSubsystem;
+        this.controller = ctrl;
+        this.intake = intakeSubsystem;
+        addRequirements(handoff, intake);
+    }
+
+    @Override
+    public void initialize() {
+        handoff.coast();
+        intake.coast();
+    }
+
+    @Override
+    public void execute() {
+        intake.setSpeed(controller.getRightY());
+        handoff.setSpeed(controller.getRightY());
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        handoff.brake();
+        intake.brake();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

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

@@ -0,0 +1,41 @@
+// 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.wpilibj.XboxController;
+import edu.wpi.first.wpilibj2.command.Command;
+
+import frc.robot.subsystems.ShooterSubsystem;
+
+public class RunJoystickShooter extends Command {
+    private final ShooterSubsystem shooter;
+    private final XboxController controller;
+
+    public RunJoystickShooter(ShooterSubsystem shooterSubsystem, XboxController ctrl) {
+        this.shooter = shooterSubsystem;
+        this.controller = ctrl;
+        addRequirements(shooter);
+    }
+
+    @Override
+    public void initialize() {
+        shooter.coast();
+    }
+
+    @Override
+    public void execute() {
+        shooter.setSpeed(controller.getRightY());
+    }
+
+    @Override
+    public void end(boolean interrupted) {
+        shooter.brake();
+    }
+
+    @Override
+    public boolean isFinished() {
+        return false;
+    }
+}

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

@@ -0,0 +1,44 @@
+// 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;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class HandoffSubsystem extends SubsystemBase {
+    private final CANSparkMax topHandoffMotor;
+    private final CANSparkMax bottomHandoffMotor;
+
+    public HandoffSubsystem() {
+        topHandoffMotor = new CANSparkMax(1, MotorType.kBrushless);
+        bottomHandoffMotor = new CANSparkMax(2, MotorType.kBrushless);
+        bottomHandoffMotor.setInverted(true);
+    }
+
+    public void setSpeed(double speed) {
+        topHandoffMotor.set(speed);
+        bottomHandoffMotor.set(speed);
+    }
+
+    public void brake() {
+        topHandoffMotor.setIdleMode(IdleMode.kBrake);
+        bottomHandoffMotor.setIdleMode(IdleMode.kBrake);
+    }
+
+    public void coast() {
+        topHandoffMotor.setIdleMode(IdleMode.kCoast);
+        bottomHandoffMotor.setIdleMode(IdleMode.kCoast);
+    }
+
+    @Override
+    public void periodic() {
+        SmartDashboard.putNumber("Top Handoff Motor Temp", topHandoffMotor.getMotorTemperature());
+        SmartDashboard.putNumber("Bottom Handoff Motor Temp", bottomHandoffMotor.getMotorTemperature());
+    }
+}

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

@@ -0,0 +1,37 @@
+// 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;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class HangerSubsystem extends SubsystemBase {
+    private final TalonFX hangerMotor;
+
+    public HangerSubsystem() {
+        hangerMotor = new TalonFX(7);
+        hangerMotor.setInverted(true);
+    }
+
+    public void setSpeed(double speed) {
+        hangerMotor.set(speed);
+    }
+
+    public void brake() {
+        hangerMotor.setNeutralMode(NeutralModeValue.Brake);
+    }
+
+    public void coast() {
+        hangerMotor.setNeutralMode(NeutralModeValue.Coast);
+    }
+
+    @Override
+    public void periodic() {
+        SmartDashboard.putNumber("Hanger Motor Temp", hangerMotor.getDeviceTemp().getValueAsDouble());
+    }
+}

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

@@ -0,0 +1,43 @@
+// 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;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class IntakeSubsystem extends SubsystemBase {
+    private final CANSparkMax leftIntakeMotor;
+    private final CANSparkMax rightIntakeMotor;
+
+    public IntakeSubsystem() {
+        leftIntakeMotor = new CANSparkMax(3, MotorType.kBrushless);
+        rightIntakeMotor = new CANSparkMax(4, MotorType.kBrushless);
+    }
+
+    public void setSpeed(double speed) {
+        leftIntakeMotor.set(speed);
+        rightIntakeMotor.set(speed);
+    }
+
+    public void brake() { 
+        leftIntakeMotor.setIdleMode(IdleMode.kBrake);
+        rightIntakeMotor.setIdleMode(IdleMode.kBrake);
+    }
+
+    public void coast() {
+        leftIntakeMotor.setIdleMode(IdleMode.kCoast);
+        rightIntakeMotor.setIdleMode(IdleMode.kCoast);
+    }
+
+    @Override
+    public void periodic() {
+        SmartDashboard.putNumber("Left Intake Motor Temp", leftIntakeMotor.getMotorTemperature());
+        SmartDashboard.putNumber("Right Intake Motor Temp", rightIntakeMotor.getMotorTemperature());
+    }
+}

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

@@ -0,0 +1,44 @@
+// 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;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class ShooterSubsystem extends SubsystemBase {
+    private final TalonFX topShooterMotor;
+    private final TalonFX bottomShooterMotor;
+
+    public ShooterSubsystem() {
+        topShooterMotor = new TalonFX(5);
+        bottomShooterMotor = new TalonFX(6);
+        topShooterMotor.setInverted(true);
+        bottomShooterMotor.setInverted(true);
+    }
+
+    public void setSpeed(double speed) {
+        topShooterMotor.set(speed);
+        bottomShooterMotor.set(speed);
+    }
+
+    public void brake() {
+        topShooterMotor.setNeutralMode(NeutralModeValue.Brake);
+        bottomShooterMotor.setNeutralMode(NeutralModeValue.Brake);
+    }
+
+    public void coast() {
+        topShooterMotor.setNeutralMode(NeutralModeValue.Coast);
+        bottomShooterMotor.setNeutralMode(NeutralModeValue.Coast);
+    }
+
+    @Override
+    public void periodic() {
+        SmartDashboard.putNumber("Top Shooter Motor Temperature", topShooterMotor.getDeviceTemp().getValueAsDouble());
+        SmartDashboard.putNumber("Bottom Shooter Motor Temperature", bottomShooterMotor.getDeviceTemp().getValueAsDouble());
+    }
+}

vendordeps/PathplannerLib.json

@@ -0,0 +1,38 @@
+{
+    "fileName": "PathplannerLib.json",
+    "name": "PathplannerLib",
+    "version": "2024.2.8",
+    "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
+    "frcYear": "2024",
+    "mavenUrls": [
+        "https://3015rangerrobotics.github.io/pathplannerlib/repo"
+    ],
+    "jsonUrl": "https://3015rangerrobotics.github.io/pathplannerlib/PathplannerLib.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-java",
+            "version": "2024.2.8"
+        }
+    ],
+    "jniDependencies": [],
+    "cppDependencies": [
+        {
+            "groupId": "com.pathplanner.lib",
+            "artifactId": "PathplannerLib-cpp",
+            "version": "2024.2.8",
+            "libName": "PathplannerLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal",
+                "linuxathena",
+                "linuxarm32",
+                "linuxarm64"
+            ]
+        }
+    ]
+}