From d4c7b9fb3458884c46e1b886866250f6f95a43d2 Mon Sep 17 00:00:00 2001
From: Thomas Jin <83102001+Bob127227311@users.noreply.github.com>
Date: Tue, 8 Oct 2024 16:59:43 -0400
Subject: [PATCH] shooter fix eeelsa

---
 .../robot/subsystems/shooter/ShooterIO.java   |  7 +++++-
 .../subsystems/shooter/ShooterIOReal.java     | 23 ++++++++++++-------
 2 files changed, 21 insertions(+), 9 deletions(-)

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
index fe15e61..c2b3476 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIO.java
@@ -1,6 +1,5 @@
 package frc.robot.subsystems.shooter;
 
-import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs;
 import org.littletonrobotics.junction.AutoLog;
 
 public interface ShooterIO {
@@ -8,11 +7,17 @@ public interface ShooterIO {
   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 default void spinForwards() {}
 
   public default void spinBackwards() {}
 
+  public default void stopMotor() {}
+
   public default void updateInputs(ShooterIOInputs inputs) {}
 }
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
index 5f70d9b..5bcf7d2 100644
--- a/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
+++ b/src/main/java/frc/robot/subsystems/shooter/ShooterIOReal.java
@@ -1,5 +1,6 @@
 package frc.robot.subsystems.shooter;
 
+import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.RelativeEncoder;
@@ -9,15 +10,22 @@ public class ShooterIOReal implements ShooterIO {
       new CANSparkFlex(0, MotorType.kBrushless); // Can IDs not accurate
   private CANSparkFlex rightShooterMotor =
       new CANSparkFlex(1, MotorType.kBrushless); // Can IDsp not accurate
+
   private RelativeEncoder leftShooterEncoder = leftShooterMotor.getEncoder();
   private RelativeEncoder rightShooterEncoder = rightShooterMotor.getEncoder();
 
   public ShooterIOReal() {
+    rightShooterMotor.restoreFactoryDefaults();
+    leftShooterMotor.restoreFactoryDefaults();
+
     rightShooterMotor.follow(leftShooterMotor, true);
-   
+
     leftShooterMotor.setSmartCurrentLimit(40);
     rightShooterMotor.setSmartCurrentLimit(40);
 
+    rightShooterMotor.setIdleMode(IdleMode.kCoast);
+    leftShooterMotor.setIdleMode(IdleMode.kCoast);
+
     rightShooterMotor.burnFlash();
     leftShooterMotor.burnFlash();
   }
@@ -50,25 +58,24 @@ public double getLeftVoltage() {
   }
 
   public double getRightVoltage() {
-      return rightShooterMotor.getBusVoltage();
+    return rightShooterMotor.getBusVoltage();
   }
 
   public double getLeftCurrent() {
-      return leftShooterMotor.getOutputCurrent();
+    return leftShooterMotor.getOutputCurrent();
   }
 
   public double getRightCurrent() {
-      return rightShooterMotor.getOutputCurrent();
+    return rightShooterMotor.getOutputCurrent();
   }
 
   @Override
   public void updateInputs(ShooterIOInputs inputs) {
     inputs.leftMotorVelocity = getLeftvelocity();
     inputs.rightMotorVelocity = getRightvelocity();
-    inputs.leftAppliedVolts = getLeftVoltage(); 
+    inputs.leftAppliedVolts = getLeftVoltage();
     inputs.rightAppliedVolts = getRightVoltage();
-    inputs.leftOutputCurrent = getLeftCurrent(); 
+    inputs.leftOutputCurrent = getLeftCurrent();
     inputs.rightOutputCurrent = getRightCurrent();
   }
-}
-
+}
\ No newline at end of file