Merge pull request #2 from carrotfarm02/wyatt/launcher-prototype

added launcher prototype subsystem

Author: RHR2713

src/main/java/frc/robot/RobotContainer.java

@@ -33,6 +33,7 @@
 import frc.robot.subsystems.feeder.FeederConstants;
 import frc.robot.subsystems.intakeAndLauncher.IntakeAndLauncher;
 import frc.robot.subsystems.intakeAndLauncher.IntakeAndLauncherConstants;
+import frc.robot.subsystems.prototype.Prototype;
 import frc.robot.util.CANHealthLogger;
 
 /**
@@ -46,6 +47,7 @@ public class RobotContainer {
   private final Drive drive;
   private final IntakeAndLauncher intakeAndShooter;
   private final Feeder feederAndIndexer;
+  private final Prototype prototype;
 
   // Controller
   private final CommandXboxController controller = new CommandXboxController(0);
@@ -121,6 +123,7 @@ public RobotContainer() {
         this.feederAndIndexer = new Feeder();
         break;
     }
+    prototype = new Prototype();
     this.canLogger = new CANHealthLogger();
 
     // Initialize ChoreoLib AutoFactory
@@ -231,6 +234,11 @@ private void configureButtonBindings() {
                     feederAndIndexer.voltageCmd(FeederConstants.launchVoltage.get()))))
         .onFalse(
             Commands.parallel(intakeAndShooter.voltageCmd(0.0), feederAndIndexer.voltageCmd(0.0)));
+    // prototype controls
+    controller
+        .x()
+        .whileTrue(prototype.voltageCmdPrototype(5))
+        .whileFalse(prototype.voltageCmdPrototype(0));
   }
 
   /**

src/main/java/frc/robot/subsystems/drive/DriveConstants.java

@@ -13,6 +13,7 @@ public final class AutoConstants {
     public static final LoggedTunableGains headingTrajectoryController =
         new LoggedTunableGains("headingTraj", new ControlGains().p(3).d(0.0));
   }
-  public final static LoggedTunableNumber speedScalar =
-    new LoggedTunableNumber("Drive/Drive Speed Scalar", 1);
+
+  public static final LoggedTunableNumber speedScalar =
+      new LoggedTunableNumber("Drive/Drive Speed Scalar", 1);
 }

src/main/java/frc/robot/subsystems/prototype/Prototype.java

@@ -0,0 +1,35 @@
+package frc.robot.subsystems.prototype;
+
+import com.ctre.phoenix6.controls.Follower;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.MotorAlignmentValue;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
+
+public class Prototype extends SubsystemBase {
+  private TalonFX leftMotor = new TalonFX(2);
+  private TalonFX rightMotor = new TalonFX(1);
+  private double trackedvoltage = 0;
+
+  @Override
+  public void periodic() {
+    Logger.recordOutput("Prototype/voltage", trackedvoltage);
+  }
+
+  public Prototype() {
+    rightMotor.setControl(new Follower(leftMotor.getDeviceID(), MotorAlignmentValue.Opposed));
+  }
+
+  public void setVoltagePrototype(double commandedVoltage) {
+    leftMotor.setVoltage(commandedVoltage);
+    trackedvoltage = commandedVoltage;
+  }
+
+  public Command voltageCmdPrototype(double desiredVoltage) {
+    return Commands.sequence(
+        Commands.print("LaunchPrototype set to: " + desiredVoltage),
+        Commands.runOnce(() -> this.setVoltagePrototype(desiredVoltage), this));
+  }
+}