diff --git a/.run/Build & Deploy Robot for Debugging.run.xml b/.run/Build & Deploy Robot for Debugging.run.xml
index 0fa85ce..2a40583 100644
--- a/.run/Build & Deploy Robot for Debugging.run.xml
+++ b/.run/Build & Deploy Robot for Debugging.run.xml
@@ -87,4 +87,26 @@
false
+
+
+
+
+
+
+
+
+
+
+ true
+ true
+ false
+ false
+
+
\ No newline at end of file
diff --git a/.run/Build & Deploy Robot.run.xml b/.run/Build & Deploy Robot.run.xml
index 89430c8..88cc1c1 100644
--- a/.run/Build & Deploy Robot.run.xml
+++ b/.run/Build & Deploy Robot.run.xml
@@ -18,7 +18,7 @@
true
true
false
- false
+ false
@@ -40,7 +40,7 @@
true
true
false
- false
+ false
@@ -62,7 +62,7 @@
true
true
false
- false
+ false
@@ -84,7 +84,29 @@
true
true
false
- false
+ false
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ true
+ false
+ false
\ No newline at end of file
diff --git a/.run/Build Robot.run.xml b/.run/Build Robot.run.xml
index 6b0d2ec..471f682 100644
--- a/.run/Build Robot.run.xml
+++ b/.run/Build Robot.run.xml
@@ -87,4 +87,26 @@
false
+
+
+
+
+
+
+
+
+
+
+ true
+ true
+ false
+ false
+
+
\ No newline at end of file
diff --git a/.run/Clean Build & Deploy Robot for Debugging.run.xml b/.run/Clean Build & Deploy Robot for Debugging.run.xml
index 4e4b2d3..8a73c3c 100644
--- a/.run/Clean Build & Deploy Robot for Debugging.run.xml
+++ b/.run/Clean Build & Deploy Robot for Debugging.run.xml
@@ -91,4 +91,27 @@
false
+
+
+
+
+
+
+
+
+
+
+ true
+ true
+ false
+ false
+
+
\ No newline at end of file
diff --git a/.run/Clean Build & Deploy Robot.run.xml b/.run/Clean Build & Deploy Robot.run.xml
index d38efbe..e4441b2 100644
--- a/.run/Clean Build & Deploy Robot.run.xml
+++ b/.run/Clean Build & Deploy Robot.run.xml
@@ -91,4 +91,27 @@
false
+
+
+
+
+
+
+
+
+
+
+ true
+ true
+ false
+ false
+
+
\ No newline at end of file
diff --git a/.run/Clean Build Robot.run.xml b/.run/Clean Build Robot.run.xml
index 3899e9e..e43dd4a 100644
--- a/.run/Clean Build Robot.run.xml
+++ b/.run/Clean Build Robot.run.xml
@@ -19,7 +19,7 @@
true
true
false
- false
+ false
@@ -42,7 +42,7 @@
true
true
false
- false
+ false
@@ -65,7 +65,7 @@
true
true
false
- false
+ false
@@ -88,7 +88,7 @@
true
true
false
- false
+ false
@@ -111,7 +111,7 @@
true
true
false
- false
+ false
@@ -134,7 +134,7 @@
true
true
false
- false
+ false
@@ -157,7 +157,7 @@
true
true
false
- false
+ false
@@ -180,7 +180,30 @@
true
true
false
- false
+ false
+
+
+
+
+
+
+
+
+
+
+
+
+ true
+ true
+ false
+ false
\ No newline at end of file
diff --git a/.run/Clean.run.xml b/.run/Clean.run.xml
index 5ffb2e5..2300853 100644
--- a/.run/Clean.run.xml
+++ b/.run/Clean.run.xml
@@ -87,4 +87,26 @@
false
+
+
+
+
+
+
+
+
+
+
+ true
+ true
+ false
+ false
+
+
\ No newline at end of file
diff --git a/build.gradle b/build.gradle
index 622c04f..3107c8e 100644
--- a/build.gradle
+++ b/build.gradle
@@ -4,7 +4,7 @@ plugins {
id "java"
id "idea"
id "org.jetbrains.kotlin.jvm" version "1.8.20"
- id "edu.wpi.first.GradleRIO" version "2024.1.1"
+ id "edu.wpi.first.GradleRIO" version "2024.2.1"
id "org.jlleitschuh.gradle.ktlint" version "11.6.1"
id "org.jetbrains.dokka" version "1.8.10"
}
diff --git a/src/main/kotlin/frc/team449/RobotLoop.kt b/src/main/kotlin/frc/team449/RobotLoop.kt
index 41febb8..7b166c6 100644
--- a/src/main/kotlin/frc/team449/RobotLoop.kt
+++ b/src/main/kotlin/frc/team449/RobotLoop.kt
@@ -26,7 +26,7 @@ import monologue.Monologue
import org.littletonrobotics.urcl.URCL
import kotlin.jvm.optionals.getOrNull
-/** The main class of the robot, constructs all the subsystems and initializes default commands. */
+/** The main class of the robot, constructs all the subsystems and initializes default commands . */
class RobotLoop : TimedRobot(), Logged {
@Log.NT
@@ -41,6 +41,7 @@ class RobotLoop : TimedRobot(), Logged {
private var routineMap = hashMapOf()
private val controllerBinder = ControllerBindings(robot.driveController, robot.mechController, robot)
+
override fun robotInit() {
// Yes this should be a print statement, it's useful to know that robotInit started.
println("Started robotInit.")
diff --git a/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt
new file mode 100644
index 0000000..32e4c9b
--- /dev/null
+++ b/src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt
@@ -0,0 +1,12 @@
+package frc.team449.robot2024.constants.subsystem
+
+object FeederConstants {
+ const val MOTOR_ID = 7
+ const val FOLLOLWER_ID = 55
+ const val FOLLOWER_INV = false
+ const val INVERTED = true
+ const val CURRENT_LIM = 15
+
+ const val INTAKE_VOLTAGE = 8.0
+ const val REVERSE_VOLTAGE = -5.0
+}
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt
new file mode 100644
index 0000000..9929842
--- /dev/null
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt
@@ -0,0 +1,57 @@
+package frc.team449.robot2024.subsystems
+
+import com.revrobotics.CANSparkMax
+import edu.wpi.first.util.sendable.SendableBuilder
+import edu.wpi.first.wpilibj2.command.Command
+import edu.wpi.first.wpilibj2.command.SubsystemBase
+import frc.team449.robot2024.constants.subsystem.FeederConstants
+import frc.team449.system.encoder.NEOEncoder
+import frc.team449.system.motor.WrappedMotor
+import frc.team449.system.motor.createSparkMax
+
+class Feeder(
+ val motor: WrappedMotor
+) : SubsystemBase() {
+
+ fun intake(): Command {
+ return this.runOnce {
+ motor.setVoltage(FeederConstants.INTAKE_VOLTAGE)
+ motor.stopMotor();
+ }
+ }
+
+ fun outtake(): Command {
+ return this.runOnce {
+ motor.setVoltage(FeederConstants.REVERSE_VOLTAGE)
+ }
+ }
+
+ fun stop(): Command {
+ return this.runOnce {
+ motor.stopMotor()
+ }
+ }
+
+ override fun initSendable(builder: SendableBuilder) {
+ builder.publishConstString("1.0", "Motor Voltages")
+ builder.addDoubleProperty("1.1 Last Voltage", { motor.lastVoltage }, null)
+ }
+
+ companion object {
+ fun createProtoUndertaker(): Feeder {
+ val motor = createSparkMax(
+ "ProtoUndertaker Motor",
+ FeederConstants.MOTOR_ID,
+ NEOEncoder.creator(
+ 1.0,
+ 1.0
+ ),
+ inverted = FeederConstants.INVERTED,
+ currentLimit = FeederConstants.CURRENT_LIM,
+ slaveSparks = mapOf(Pair(FeederConstants.FOLLOLWER_ID, FeederConstants.FOLLOWER_INV))
+ )
+
+ return Feeder(motor)
+ }
+ }
+}