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blair-robot-project · Feb 1, 2024 · 95bb6c6 · 95bb6c6
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commit 95bb6c6
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Showing 3 changed files with 9 additions and 31 deletions.
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ClimberSubsystem.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ClimberSubsystem.kt
diff --git a/...9/robot2024/subsystems/xhooter/Shooter.kt → ...9/robot2024/subsystems/shooter/Shooter.kt b/...9/robot2024/subsystems/xhooter/Shooter.kt → ...9/robot2024/subsystems/shooter/Shooter.kt
@@ -1,4 +1,4 @@
-package frc.team449.robot2024.subsystems.xhooter
+package frc.team449.robot2024.subsystems.shooter
 
 import edu.wpi.first.math.Nat
 import edu.wpi.first.math.VecBuilder
@@ -21,8 +21,6 @@ import frc.team449.system.encoder.NEOEncoder
 import frc.team449.system.motor.WrappedMotor
 import frc.team449.system.motor.createSparkMax
 import java.util.function.Supplier
-
-
 open class Shooter(
   private val rightMotor: WrappedMotor,
   private val leftMotor: WrappedMotor,

diff --git a/...obot2024/subsystems/xhooter/ShooterSim.kt → ...obot2024/subsystems/shooter/ShooterSim.kt b/...obot2024/subsystems/xhooter/ShooterSim.kt → ...obot2024/subsystems/shooter/ShooterSim.kt
@@ -1,32 +1,26 @@
-package frc.team449.robot2023.subsystems.elevator
+package frc.team449.robot2024.subsystems.shooter
 
 import edu.wpi.first.math.MathUtil
 import edu.wpi.first.math.numbers.N1
 import edu.wpi.first.math.system.LinearSystemLoop
 import edu.wpi.first.math.system.plant.DCMotor
-import edu.wpi.first.math.util.Units
 import edu.wpi.first.util.sendable.SendableBuilder
 import edu.wpi.first.wpilibj.simulation.FlywheelSim
-import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard
 import frc.team449.robot2024.Robot
 import frc.team449.robot2024.constants.MotorConstants
 import frc.team449.robot2024.constants.RobotConstants
 import frc.team449.robot2024.constants.subsystem.ShooterConstants
-import frc.team449.robot2024.subsystems.xhooter.Shooter
 import frc.team449.system.motor.WrappedMotor
 import java.util.function.Supplier
-import kotlin.math.cos
-import kotlin.math.sin
 
-class ElevatorSim(
+class ShooterSim(
   private val rightMotor: WrappedMotor,
   private val leftMotor: WrappedMotor,
-  private val rightLoop: LinearSystemLoop<N1, N1, N1>,
-  private val leftLoop: LinearSystemLoop<N1, N1, N1>,
-  private val robot: Robot
+  rightLoop: LinearSystemLoop<N1, N1, N1>,
+  leftLoop: LinearSystemLoop<N1, N1, N1>,
+  robot: Robot
 ) : Shooter(rightMotor, leftMotor, rightLoop, leftLoop, robot) {
 
-
   // State is (left velocity, right velocity)
   private var currentState = Pair(
     leftMotor.velocity * ShooterConstants.UPR * ShooterConstants.GEARING,
@@ -85,7 +79,7 @@ class ElevatorSim(
     builder.addDoubleProperty("4.1 Simulated current Draw", { currentDraw }, {})
 
     builder.publishConstString("5.0", "Velocity")
-    builder.addDoubleProperty("5.1 Left Motor Vel", {currentState.first}, {})
-    builder.addDoubleProperty("5.2 Right Motor Vel", {currentState.second}, {})
+    builder.addDoubleProperty("5.1 Left Motor Vel", { currentState.first }, {})
+    builder.addDoubleProperty("5.2 Right Motor Vel", { currentState.second }, {})
   }
-}
+}