basic hang

.factorypath

@@ -1,4 +1,4 @@
 <factorypath>
-    <factorypathentry kind="EXTJAR" id="C:\Users\Broncobotics\.gradle\caches\modules-2\files-2.1\com.squareup\javapoet\1.13.0\d6562d385049f35eb50403fa86bb11cce76b866a\javapoet-1.13.0.jar" enabled="true" runInBatchMode="false"/>
-    <factorypathentry kind="EXTJAR" id="C:\Users\Broncobotics\.gradle\caches\modules-2\files-2.1\org.littletonrobotics.akit.junction\junction-autolog\3.1.0\abaf89ad1ac7acc95dbc0d3f0785a39acf98dd0e\junction-autolog-3.1.0.jar" enabled="true" runInBatchMode="false"/>
+    <factorypathentry kind="EXTJAR" id="/Users/rohangodha/.gradle/caches/modules-2/files-2.1/org.littletonrobotics.akit.junction/junction-autolog/3.1.0/abaf89ad1ac7acc95dbc0d3f0785a39acf98dd0e/junction-autolog-3.1.0.jar" enabled="true" runInBatchMode="false"/>
+    <factorypathentry kind="EXTJAR" id="/Users/rohangodha/.gradle/caches/modules-2/files-2.1/com.squareup/javapoet/1.13.0/d6562d385049f35eb50403fa86bb11cce76b866a/javapoet-1.13.0.jar" enabled="true" runInBatchMode="false"/>
 </factorypath>

src/main/java/frc/robot/Constants.java

@@ -54,7 +54,6 @@ public static class IntakeConstants {
   public static class PivotConstants {
     public static final int pivotCANId = 13;
 
-    // 80 falcon rotations = 1 pivot rotation
     // 5:1 planetary + 5:1 planetary + 48:21 chain
     public static final double pivotGearRatio = 57.1429;
 
@@ -76,4 +75,9 @@ public static class ShooterConstants {
     public static final double shootingPower = -0.75;
     public static final double conveyorPower = 0.6;
   }
+
+  public static class HangConstants {
+    public static final int leaderCANId = 14;
+    public static final int followerCANId = 15;
+  }
 }

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

@@ -24,6 +24,7 @@
 import frc.robot.commands.FeedForwardCharacterization;
 import frc.robot.commands.PivotCommands;
 import frc.robot.subsystems.drive.*;
+import frc.robot.subsystems.hang.*;
 import frc.robot.subsystems.intake.*;
 import frc.robot.subsystems.limelight.*;
 import frc.robot.subsystems.pivot.*;
@@ -43,6 +44,7 @@ public class RobotContainer {
   private final Pivot pivot;
   private final Shooter shooter;
   private final Limelight limelight;
+  private final Hang hang;
 
   // Controller
   private final GenericHID driver = new GenericHID(0); // hotas
@@ -67,6 +69,7 @@ public RobotContainer() {
         pivot = new Pivot(new PivotIOReal());
         shooter = new Shooter(new ShooterIOReal());
         limelight = new Limelight(new LimelightIOReal(), drive);
+        hang = new Hang(new HangIOReal());
 
 
         break;
@@ -85,6 +88,7 @@ public RobotContainer() {
         pivot = new Pivot(new PivotIOSim());
         shooter = new Shooter(new ShooterIOSim());
         limelight = new Limelight(new LimelightIO() {}, drive);
+        hang = new Hang(new HangIOSim());
 
         break;
 
@@ -102,6 +106,7 @@ public RobotContainer() {
         pivot = new Pivot(new PivotIO() {});
         shooter = new Shooter(new ShooterIO() {});
         limelight = new Limelight(new LimelightIO() {}, drive);
+        hang = new Hang(new HangIO() {});
 
         break;
     }
@@ -146,6 +151,9 @@ private void configureButtonBindings() {
     pivot.setDefaultCommand(
         PivotCommands.basicOperatorControl(
             pivot, () -> operator.getRightX() - operator.getLeftX()));
+
+    hang.setDefaultCommand(hang.operatorControl(() -> 
+      operator.getRightTriggerAxis() - operator.getLeftTriggerAxis()));
   }
 
   /**

src/main/java/frc/robot/subsystems/hang/Hang.java

@@ -0,0 +1,35 @@
+package frc.robot.subsystems.hang;
+
+import java.util.function.DoubleSupplier;
+
+import org.littletonrobotics.junction.Logger;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Hang extends SubsystemBase {
+  HangIO io;
+  HangIOInputsAutoLogged inputs = new HangIOInputsAutoLogged();
+
+  public Hang(HangIO io) {
+    this.io = io;
+  }
+
+  @Override
+  public void periodic() {
+    io.updateInputs(inputs);
+    Logger.processInputs("Hang", inputs);
+  }
+
+  public void setSpeed(double speed) {
+    io.setSpeed(speed);
+  }
+
+  public Command operatorControl(DoubleSupplier speedSupplier) {
+    return Commands.run(() -> {
+      double speed = speedSupplier.getAsDouble();
+      setSpeed(speed * 0.1);
+    }, this);
+  }
+}

src/main/java/frc/robot/subsystems/hang/HangIO.java

@@ -0,0 +1,15 @@
+package frc.robot.subsystems.hang;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface HangIO {
+  @AutoLog
+  public static class HangIOInputs {
+    public double mainCurrent = 0.0;
+    public double followerCurrent = 0.0;
+  }
+
+  default void updateInputs(HangIOInputs inputs) {}
+
+  default void setSpeed(double power) {}
+}

src/main/java/frc/robot/subsystems/hang/HangIOReal.java

@@ -0,0 +1,56 @@
+package frc.robot.subsystems.hang;
+
+import com.ctre.phoenix6.BaseStatusSignal;
+import com.ctre.phoenix6.StatusSignal;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.Follower;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import frc.robot.Constants.HangConstants;
+
+public class HangIOReal implements HangIO {
+
+  TalonFX leader;
+  TalonFX follower; 
+
+  StatusSignal<Double> leaderCurrent;
+  StatusSignal<Double> followerCurrent;
+
+  public HangIOReal() {
+
+    leader = new TalonFX(HangConstants.leaderCANId);
+    follower = new TalonFX(HangConstants.followerCANId);
+
+    // TODO: should this boolean be false?? do they rotate in the same ways??
+    follower.setControl(new Follower(HangConstants.leaderCANId, true));
+
+    var config = new TalonFXConfiguration();
+
+    config.CurrentLimits.SupplyCurrentLimit = 40;
+    config.CurrentLimits.SupplyCurrentLimitEnable = true;    config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
+
+    leader.getConfigurator().apply(config);
+    follower.getConfigurator().apply(config);
+
+    leaderCurrent = leader.getTorqueCurrent();
+    followerCurrent = follower.getTorqueCurrent();
+
+    // don't really need this to update that often b/c it's just for data visualization
+    BaseStatusSignal.setUpdateFrequencyForAll(100.0, leaderCurrent, followerCurrent);
+    leader.optimizeBusUtilization(1.0);
+    follower.optimizeBusUtilization(1.0);
+
+  }
+
+  public void updateInputs(HangIOInputs inputs) {
+    inputs.mainCurrent = leaderCurrent.getValueAsDouble();
+    inputs.followerCurrent = followerCurrent.getValueAsDouble();
+  }
+
+  public void setSpeed(double power) {
+    leader.set(power);
+  }
+
+
+}

src/main/java/frc/robot/subsystems/hang/HangIOSim.java

@@ -0,0 +1,5 @@
+package frc.robot.subsystems.hang;
+
+public class HangIOSim implements HangIO {
+  // todo
+}