From 701f90de90426af5399a45d7765ad74d04473e98 Mon Sep 17 00:00:00 2001
From: Thomas <119466406+ColinH0@users.noreply.github.com>
Date: Sat, 26 Oct 2024 06:56:03 -0400
Subject: [PATCH] shooter voltage control

---
 src/main/java/frc/robot/RobotContainer.java        | 14 +++++++++++++-
 .../java/frc/robot/subsystems/shooter/Shooter.java |  7 +++++++
 .../frc/robot/subsystems/shooter/ShooterIO.java    |  2 ++
 .../robot/subsystems/shooter/ShooterIOReal.java    |  2 ++
 4 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
index 39a435e..2ff85d4 100644
--- a/src/main/java/frc/robot/RobotContainer.java
+++ b/src/main/java/frc/robot/RobotContainer.java
@@ -185,10 +185,22 @@ private void configureButtonBindings() {
     //                         .withTimeout(3)))));
 
     controller
-        .povDown()
+        .povLeft()
         .whileTrue(
             Commands.startEnd(() -> shooter.setVoltage(-9), () -> shooter.setVoltage(0), pivot));
 
+    controller
+        .povUp()
+        .onTrue(
+          Commands.startEnd(() -> shooter.changeVoltage(1), () -> shooter.setVoltage(1))
+        );
+
+  controller
+    .povUp()
+    .onTrue(
+      Commands.startEnd(() -> shooter.changeVoltage(-1), () -> shooter.setVoltage(-1))
+    );
+
     controller
         .povRight()
         .whileTrue(
diff --git a/src/main/java/frc/robot/subsystems/shooter/Shooter.java b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
index b0f741a..4df7e79 100644
--- a/src/main/java/frc/robot/subsystems/shooter/Shooter.java
+++ b/src/main/java/frc/robot/subsystems/shooter/Shooter.java
@@ -28,6 +28,13 @@ public void setVoltage(double voltage) {
     io.setVoltage(voltage);
   }
 
+  public void changeVoltage(double dv) {
+    setLeftRightVoltage(
+      inputs.leftVoltage >= 1 + dv ? inputs.leftVoltage + dv : 0, 
+      inputs.rightVoltage >= 1 + dv ? inputs.rightVoltage + dv : 0
+    );
+  }
+ 
   public void setLeftRightVoltage(double leftVoltage, double rightVoltage) {
     io.setRightVoltage(rightVoltage);
     io.setLeftVoltage(leftVoltage);
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index b348493..3721d6e 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -7,6 +7,8 @@ public interface ShooterIO {
   public static class ShooterIOInputs {
     public double leftMotorVelocity = 0.0;
     public double rightMotorVelocity = 0.0;
+    public double leftVoltage = 0.0;
+    public double rightVoltage = 0.0;
   }
 
   public default void spinForwards() {}
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
index 0a32b81..efa5e31 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
@@ -62,5 +62,7 @@ public double getRightvelocity() {
   public void updateInputs(ShooterIOInputs inputs) {
     inputs.leftMotorVelocity = getLeftvelocity();
     inputs.rightMotorVelocity = getRightvelocity();
+    inputs.leftVoltage = leftShooterMotor.getBusVoltage();
+    inputs.leftVoltage = rightShooterMotor.getBusVoltage();
   }
 }