Merge branch 'shooter' into pivot

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

@@ -38,8 +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);
@@ -56,7 +54,7 @@ public void robotInit() {
       default:
         Logger.recordMetadata("GitDirty", "Unknown");
         break;
-      } */
+      }
 
     // Set up data receivers & replay source
     switch (Constants.currentMode) {

src/main/java/frc/robot/subsystems/pivot/PivotIOReal.java

@@ -22,7 +22,7 @@ public PivotIOReal() {
 
     pivotMotor.setCANTimeout(250);
     pivotMotor.enableVoltageCompensation(12);
-    pivotMotor.setSmartCurrentLimit(80);
+    pivotMotor.setSmartCurrentLimit(30);
     pivotMotor.setIdleMode(IdleMode.kBrake);
 
     pivotMotor.burnFlash();

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

@@ -0,0 +1,31 @@
+package frc.robot.subsystems.shooter;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Shooter extends SubsystemBase {
+  private ShooterIO io;
+  private ShooterIOInputsAutoLogged inputs = new ShooterIOInputsAutoLogged();
+
+  private static Shooter instance;
+
+  public static Shooter getInstance() {
+    return instance;
+  }
+
+  public static Shooter initialize(ShooterIO io) {
+    if (instance == null) {
+      instance = new Shooter(io);
+    }
+    return instance;
+  }
+
+  private Shooter(ShooterIO shooterIO) {
+    io = shooterIO;
+    io.updateInputs(inputs);
+  }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+  }
+}

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

@@ -0,0 +1,18 @@
+package frc.robot.subsystems.shooter;
+
+import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs;
+import org.littletonrobotics.junction.AutoLog;
+
+public interface ShooterIO {
+  @AutoLog
+  public static class ShooterIOInputs {
+    public double leftMotorVelocity = 0.0;
+    public double rightMotorVelocity = 0.0;
+  }
+
+  public default void spinForwards() {}
+
+  public default void spinBackwards() {}
+
+  public default void updateInputs(ShooterIOInputs inputs) {}
+}

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

@@ -0,0 +1,45 @@
+package frc.robot.subsystems.shooter;
+
+import com.revrobotics.CANSparkFlex;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.RelativeEncoder;
+
+public class ShooterIOReal implements ShooterIO {
+  private CANSparkFlex leftShooterMotor =
+      new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate
+  private CANSparkFlex rightShooterMotor =
+      new CANSparkFlex(1, MotorType.kBrushless); // Can IDs not accurate
+  private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder();
+  private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder();
+
+  public ShooterIOReal() {
+    rightShooterMotor.follow(leftShooterMotor, true);
+
+    rightShooterMotor.burnFlash();
+    leftShooterMotor.burnFlash();
+  }
+
+  @Override
+  public void spinForwards() {
+    leftShooterMotor.set(1.0);
+  }
+
+  @Override
+  public void spinBackwards() {
+    leftShooterMotor.set(-1.0);
+  }
+
+  public double getLeftvelocity() {
+    return leftShooterEncoder.getVelocity();
+  }
+
+  public double getRightvelocity() {
+    return rightShooterEncoder.getVelocity();
+  }
+
+  @Override
+  public void updateInputs(ShooterIOInputs inputs) {
+    inputs.leftMotorVelocity = getLeftvelocity();
+    inputs.rightMotorVelocity = getRightvelocity();
+  }
+}

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

@@ -0,0 +1,3 @@
+package frc.robot.subsystems.shooter;
+
+public class ShooterIOSim {}