made changes to spark max almost done

Author: laelHI

src/main/java/frc/robot/subsystems/dropper/DropperIOSparkMax.java

@@ -2,34 +2,114 @@
 
 import static frc.robot.Constants.NEO_CURRENT_LIMIT;
 
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.servohub.ServoHub.ResetMode;
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkFlex;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.config.SparkFlexConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+import edu.wpi.first.math.controller.ProfiledPIDController;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.units.measure.Angle;
 
 public class DropperIOSparkMax implements DropperIO {
 
     private ProfiledPIDController controller = new ProfiledPIDController(0, 0, 0, new TrapezoidProfile(-12, 12));
-    private SparkFlex motor;
-    private RelativeEncoder encoder;
+    private SparkFlex rightMotor;
+    private RelativeEncoder rightEncoder;    
+    private SparkFlex leftMotor;
+    private RelativeEncoder leftEncoder;
 
     public DropperIOSparkMax() {
-        leftmotor = new SparkFlex(DropperConstants.blank, MotorType.kBrushless);//make a constant for motor id and ask the type of motor
-        rightmotor = new SparkFlex(DropperConstants.blankmotorid, MotorType.kbrushless);
+        //motors
+        leftMotor = new SparkFlex(DropperConstants.blank, MotorType.kBrushless);//make a constant for motor id and ask the type of motor
+        rightMotor = new SparkFlex(DropperConstants.blankmotorid, MotorType.kBrushless);
 
         leftEncoder = leftMotor.getEncoder();
         rightEncoder = rightMotor.getEncoder();
 
-        SparkFlexConfig config = new SparkFlexConfig();
-        config
-            .idleMode(IdleMode.kbrake)
+        SparkFlexConfig configLeft = new SparkFlexConfig();
+        configLeft
+            .idleMode(IdleMode.kBrake)
             .voltageCompensation(12)
             .smartCurrentLimit(NEO_CURRENT_LIMIT)
             .inverted(true);
 
-        leftMo
+        leftMotor.configure(configLeft, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
 
+        SparkFlexConfig configRight = new SparkFlexConfig();
+        configRight
+            .idleMode(IdleMode.kBrake)
+            .voltageCompensation(12)
+            .smartCurrentLimit(NEO_CURRENT_LIMIT)
+            .inverted(false);
+        rightMotor.configure(configLeft, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);   
+    }
+    //methods from IO
+    
+    @Override
+    
+    public void updateInputs(DropperIOInputs inputs){
+        //do later im lazy
+    }
+    
+    @Override //not sure if there is one of these for each motor or not
+    
+    public double getAngle(){
+        return leftEncoder.getPosition() * 6.28; //its just two pi make a pi constant later
+    }
+    
+    @Override
+    
+    public double getAngVelocity(){
+        double rpm = leftEncoder.getVelocity();//in rotations per min i think so convert
+        double rps = rpm * 6.28 / 60; //radians per second (its just 2pi divide by 60)
+        return rps;
+    }
+
+    @Override
+    public void setVoltage(double voltage) {
+        leftMotor.setVoltage(voltage);//???
+        rightMotor.setVoltage(voltage);//idk about this
+      }
+    
+    @Override
+
+    public void setPosition(){
 
-        
     }
 
+    @Override
 
+    public void stop(){
+        leftMotor.stopMotor();
+        rightMotor.stopMotor();
+    }
+
+    //PID
+
+    public void setPIDGains(double kp, ki, kd){
+        velocityPID.setP(p);//idek
+        velocityPID.setI(i);
+        velocityPID.setD(d);
+    }
+
+
+
+}
+
+/*
+    public default void setVoltage(double voltage) {}
+    
+    public default void setPosition(int position) {}
+    
+    public default void stop() {}
 
-}
+    // PID
+    public default void setPIDGains(double kp, ki, kd) {}
+    public default double getP() {}
+    public default double getI() {}
+    public default double getD() {}
+ */