fix shooter code

src/main/java/frc/robot/Robot.java

@@ -38,7 +38,6 @@ public class Robot extends LoggedRobot {
    */
   @Override
   public void robotInit() {
-    // Record metadata
     Logger.recordMetadata("ProjectName", BuildConstants.MAVEN_NAME);
     Logger.recordMetadata("BuildDate", BuildConstants.BUILD_DATE);
     Logger.recordMetadata("GitSHA", BuildConstants.GIT_SHA);

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

@@ -5,19 +5,17 @@
 public interface ShooterIO {
   @AutoLog
   public static class ShooterIOInputs {
-    public double leftMotorVelocity = 0.0;
-    public double rightMotorVelocity = 0.0;
-    public double leftAppliedVolts = 0.0;
-    public double rightAppliedVolts = 0.0;
-    public double leftOutputCurrent = 0.0;
-    public double rightOutputCurrent = 0.0;
+    public double topMotorVelocity = 0.0;
+    public double bottomMotorVelocity = 0.0;
+    public double topAppliedVolts = 0.0;
+    public double bottomAppliedVolts = 0.0;
+    public double topOutputCurrent = 0.0;
+    public double bottomOutputCurrent = 0.0;
   }
 
-  public default void spinForwards() {}
+  public default void setVoltage(double voltage) {}
 
-  public default void spinBackwards() {}
-
-  public default void stopMotor() {}
+  public default void setVelocity(double velocity) {}
 
   public default void updateInputs(ShooterIOInputs inputs) {}
 }

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

@@ -4,78 +4,51 @@
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.RelativeEncoder;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 
 public class ShooterIOReal implements ShooterIO {
-  private CANSparkFlex leftShooterMotor =
+  private CANSparkFlex topShooterMotor =
       new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate
-  private CANSparkFlex rightShooterMotor =
+  private CANSparkFlex bottomShooterMotor =
       new CANSparkFlex(1, MotorType.kBrushless); // Can IDsp not accurate
 
-  private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder();
-  private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder();
+  private RelativeEncoder topShooterEncoder = topShooterMotor.getEncoder();
+  private RelativeEncoder bottomShooterEncoder = bottomShooterMotor.getEncoder();
+  private SimpleMotorFeedforward ffmodel = new SimpleMotorFeedforward(0, 0);
 
   public ShooterIOReal() {
-    rightShooterMotor.restoreFactoryDefaults();
-    leftShooterMotor.restoreFactoryDefaults();
+    bottomShooterMotor.restoreFactoryDefaults();
+    topShooterMotor.restoreFactoryDefaults();
 
-    rightShooterMotor.follow(leftShooterMotor, true);
+    bottomShooterMotor.follow(topShooterMotor, true);
 
-    leftShooterMotor.setSmartCurrentLimit(40);
-    rightShooterMotor.setSmartCurrentLimit(40);
+    topShooterMotor.setSmartCurrentLimit(40);
+    bottomShooterMotor.setSmartCurrentLimit(40);
 
-    rightShooterMotor.setIdleMode(IdleMode.kCoast);
-    leftShooterMotor.setIdleMode(IdleMode.kCoast);
+    bottomShooterMotor.setIdleMode(IdleMode.kCoast);
+    topShooterMotor.setIdleMode(IdleMode.kCoast);
 
-    rightShooterMotor.burnFlash();
-    leftShooterMotor.burnFlash();
+    bottomShooterMotor.burnFlash();
+    topShooterMotor.burnFlash();
   }
 
   @Override
-  public void spinForwards() {
-    leftShooterMotor.set(1.0);
+  public void setVoltage(double voltage) {
+    topShooterMotor.setVoltage(voltage);
   }
 
   @Override
-  public void spinBackwards() {
-    leftShooterMotor.set(-1.0);
-  }
-
-  @Override
-  public void stopMotor() {
-    leftShooterMotor.set(0.0);
-  }
-
-  public double getLeftvelocity() {
-    return leftShooterEncoder.getVelocity();
-  }
-
-  public double getRightvelocity() {
-    return rightShooterEncoder.getVelocity();
-  }
-
-  public double getLeftVoltage() {
-    return leftShooterMotor.getBusVoltage();
-  }
-
-  public double getRightVoltage() {
-    return rightShooterMotor.getBusVoltage();
-  }
-
-  public double getLeftCurrent() {
-    return leftShooterMotor.getOutputCurrent();
-  }
-
-  public double getRightCurrent() {
-    return rightShooterMotor.getOutputCurrent();
+  public void setVelocity(double velocity) {
+    topShooterMotor.setVoltage(ffmodel.calculate(velocity));
   }
 
   @Override
   public void updateInputs(ShooterIOInputs inputs) {
-    inputs.leftMotorVelocity = getLeftvelocity();
-    inputs.rightMotorVelocity = getRightvelocity();
-    inputs.leftAppliedVolts = getLeftVoltage();
-    inputs.rightAppliedVolts = getRightVoltage();
-    inputs.leftOutputCurrent = getLeftCurrent();
-    inputs.rightOutputCurrent = getRightCurrent();
-  }
-}
+    inputs.topMotorVelocity = topShooterEncoder.getVelocity();
+    inputs.bottomMotorVelocity = bottomShooterEncoder.getVelocity();
+    inputs.topAppliedVolts = topShooterMotor.getBusVoltage();
+    inputs.bottomAppliedVolts = bottomShooterMotor.getBusVoltage();
+    inputs.topOutputCurrent = topShooterMotor.getOutputCurrent();
+    inputs.bottomOutputCurrent = bottomShooterMotor.getOutputCurrent();
+  }
+}

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

@@ -1,58 +1,37 @@
-//thomas jin fix this 
-//i just copy pasta from flywheel sim
-//type shi pray emoji 
+// thomas jin fix this
+// i just copy pasta from flywheel sim
+// type shi pray emoji
 package frc.robot.subsystems.shooter;
 
-import edu.wpi.first.math.MathUtil;
-import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.controller.SimpleMotorFeedforward;
 import edu.wpi.first.math.system.plant.DCMotor;
-import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 
-public class FlywheelIOSim implements FlywheelIO {
-  private FlywheelSim sim = new FlywheelSim(DCMotor.getNEO(1), 1.5, 0.004);
-  private PIDController pid = new PIDController(0.0, 0.0, 0.0);
-
-  private boolean closedLoop = false;
-  private double ffVolts = 0.0;
+public class ShooterIOSim implements ShooterIO {
+  private DCMotorSim sim = new DCMotorSim(DCMotor.getNEO(1), 1.5, 0.004);
   private double appliedVolts = 0.0;
+  private SimpleMotorFeedforward ffmodel = new SimpleMotorFeedforward(0, 0);
 
   @Override
-  public void updateInputs(FlywheelIOInputs inputs) {
-    if (closedLoop) {
-      appliedVolts =
-          MathUtil.clamp(pid.calculate(sim.getAngularVelocityRadPerSec()) + ffVolts, -12.0, 12.0);
-      sim.setInputVoltage(appliedVolts);
-    }
-
-    sim.update(0.02);
-
-    inputs.positionRad = 0.0;
-    inputs.velocityRadPerSec = sim.getAngularVelocityRadPerSec();
-    inputs.appliedVolts = appliedVolts;
-    inputs.currentAmps = new double[] {sim.getCurrentDrawAmps()};
-  }
-
-  @Override
-  public void setVoltage(double volts) {
-    closedLoop = false;
-    appliedVolts = volts;
-    sim.setInputVoltage(volts);
+  public void setVoltage(double voltage) {
+    appliedVolts = voltage;
+    sim.setInputVoltage(voltage);
   }
 
   @Override
-  public void setVelocity(double velocityRadPerSec, double ffVolts) {
-    closedLoop = true;
-    pid.setSetpoint(velocityRadPerSec);
-    this.ffVolts = ffVolts;
+  public void setVelocity(double velocity) {
+    setVoltage(ffmodel.calculate(velocity));
   }
 
   @Override
-  public void stop() {
-    setVoltage(0.0);
-  }
+  public void updateInputs(ShooterIOInputs inputs) {
+    sim.update(0.02);
 
-  @Override
-  public void configurePID(double kP, double kI, double kD) {
-    pid.setPID(kP, kI, kD);
+    inputs.topMotorVelocity = sim.getAngularVelocityRPM();
+    inputs.bottomMotorVelocity = sim.getAngularVelocityRPM();
+    inputs.topAppliedVolts = appliedVolts;
+    inputs.bottomAppliedVolts = appliedVolts;
+    inputs.topOutputCurrent = sim.getCurrentDrawAmps();
+    inputs.bottomOutputCurrent = sim.getCurrentDrawAmps();
   }
 }