Laid out IO systems closer to what I we'd want and made it build

CshCyberhawks · Jan 31, 2025 · 57fc32d · 57fc32d
1 parent c8c2cbc
commit 57fc32d
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Showing 17 changed files with 109 additions and 72 deletions.
diff --git a/src/main/java/frc/robot/constants/ElevatorConstants.kt b/src/main/java/frc/robot/constants/ElevatorConstants.kt
@@ -1,16 +1,16 @@
 package frc.robot.constants
 
 object ElevatorConstants {
-    val kG = 0
-    val kS = 0
-    val kV = 0
-    val kA = 0
-    val kP = 0
-    val kI = 0
-    val kD = 0
-    val targetVelocity = 0
-    val targetAcceleration = 0
-    val targetJerk = 0
+    val kG = 0.0
+    val kS = 0.0
+    val kV = 0.0
+    val kA = 0.0
+    val kP = 0.0
+    val kI = 0.0
+    val kD = 0.0
+    val targetVelocity = 0.0
+    val targetAcceleration = 0.0
+    val targetJerk = 0.0
     val id = 0
     val canbus = ""
 }
diff --git a/src/main/java/frc/robot/constants/IntakeConstants.kt b/src/main/java/frc/robot/constants/IntakeConstants.kt
@@ -1,16 +1,16 @@
 package frc.robot.constants
 
 object IntakeConstants {
-    val kG = 0
-    val kS = 0
-    val kV = 0
-    val kA = 0
-    val kP = 0
-    val kI = 0
-    val kD = 0
-    val targetVelocity = 0
-    val targetAcceleration = 0
-    val targetJerk = 0
+    val kG = 0.0
+    val kS = 0.0
+    val kV = 0.0
+    val kA = 0.0
+    val kP = 0.0
+    val kI = 0.0
+    val kD = 0.0
+    val targetVelocity = 0.0
+    val targetAcceleration = 0.0
+    val targetJerk = 0.0
     val id = 0
     val canbus = ""
 }
diff --git a/src/main/java/frc/robot/constants/PivotConstants.kt b/src/main/java/frc/robot/constants/PivotConstants.kt
@@ -1,16 +1,16 @@
 package frc.robot.constants
 
 object PivotConstants {
-    val kG = 0
-    val kS = 0
-    val kV = 0
-    val kA = 0
-    val kP = 0
-    val kI = 0
-    val kD = 0
-    val targetVelocity = 0
-    val targetAcceleration = 0
-    val targetJerk = 0
+    val kG = 0.0
+    val kS = 0.0
+    val kV = 0.0
+    val kA = 0.0
+    val kP = 0.0
+    val kI = 0.0
+    val kD = 0.0
+    val targetVelocity = 0.0
+    val targetAcceleration = 0.0
+    val targetJerk = 0.0
     val id = 0
     val canbus = ""
 }
diff --git a/src/main/java/frc/robot/constants/WristConstants.kt b/src/main/java/frc/robot/constants/WristConstants.kt
@@ -1,16 +1,16 @@
 package frc.robot.constants
 
 object WristConstants {
-    val kG = 0
-    val kS = 0
-    val kV = 0
-    val kA = 0
-    val kP = 0
-    val kI = 0
-    val kD = 0
-    val targetVelocity = 0
-    val targetAcceleration = 0
-    val targetJerk = 0
+    val kG = 0.0
+    val kS = 0.0
+    val kV = 0.0
+    val kA = 0.0
+    val kP = 0.0
+    val kI = 0.0
+    val kD = 0.0
+    val targetVelocity = 0.0
+    val targetAcceleration = 0.0
+    val targetJerk = 0.0
     val id = 0
     val canbus = ""
 }
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.kt b/src/main/java/frc/robot/subsystems/elevator/ElevatorIO.kt
@@ -4,8 +4,8 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration
 import com.ctre.phoenix6.hardware.TalonFX
 
 interface ElevatorIO {
-    var talonFX: TalonFX
-    var talonFXConfigs: TalonFXConfiguration
-    fun getElevatorEncoder(): Double
-    fun setElevatorMotor(rotations: Double)
+//    fun getElevatorEncoder(): Double
+
+    //    fun setElevatorMotor(rotations: Double)
+    fun setPosition(positionMeters: Double)
 }
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.kt b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.kt
@@ -24,12 +24,20 @@ class ElevatorIOReal : ElevatorIO {
         talonFX.getConfigurator().apply(talonFXConfigurations)
     }
 
-    override fun getElevatorEncoder(): Double {
+    fun getElevatorEncoder(): Double {
         TODO("Not yet implemented")
         return 0.0;
     }
 
-    override fun setMotorPosition(rotations: Double) {
+    fun setElevatorMotor(rotations: Double) {
+        TODO("Not yet implemented")
+    }
+
+    fun setMotorPosition(rotations: Double) {
         talonFX.setControl(MotionMagicVoltage(rotations))
     }
+
+    override fun setPosition(positionMeters: Double) {
+        TODO("Not yet implemented")
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorSystem.kt b/src/main/java/frc/robot/subsystems/elevator/ElevatorSystem.kt
@@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj2.command.Command
 
 // By making a subsystem a Kotlin object, we ensure there is only ever one instance of it.
 // It also reduces the need to have reference variables for the subsystems to be passed around.
-object ElevatorSystem : SubsystemBase() {
+class ElevatorSystem(private val io: ElevatorIO) : SubsystemBase() {
     /**
      * Example command factory method.
      *

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.kt b/src/main/java/frc/robot/subsystems/intake/IntakeIO.kt
@@ -4,8 +4,9 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration
 import com.ctre.phoenix6.hardware.TalonFX
 
 interface IntakeIO {
-    var talonFX: TalonFX
-    var talonFXConfigs: TalonFXConfiguration
-    fun getIntakeEncoder(): Double
-    fun setIntakeMotor(x: Double)
+//    fun getIntakeEncoder(): Double
+
+    //    fun setIntakeMotor(x: Double)
+    fun setCoralIntakeState(state: CoralIntakeState)
+    fun setAlgaeIntakeState(state: AlgaeIntakeState)
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.kt b/src/main/java/frc/robot/subsystems/intake/IntakeIOReal.kt
@@ -24,12 +24,20 @@ class IntakeIOReal : IntakeIO {
         talonFX.getConfigurator().apply(talonFXConfigurations)
     }
 
-    override fun getIntakeEncoder(): Double {
+    fun getIntakeEncoder(): Double {
         TODO("Not yet implemented")
         return 0.0;
     }
 
-    override fun setIntakeMotor(x: Double) {
-        talonFX.setControl(MotionMagicVoltage(rotations))
+    fun setIntakeMotor(x: Double) {
+        talonFX.setControl(MotionMagicVoltage(x))
+    }
+
+    override fun setCoralIntakeState(state: CoralIntakeState) {
+        TODO("Not yet implemented")
+    }
+
+    override fun setAlgaeIntakeState(state: AlgaeIntakeState) {
+        TODO("Not yet implemented")
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeState.kt b/src/main/java/frc/robot/subsystems/intake/IntakeState.kt
@@ -0,0 +1,13 @@
+package frc.robot.subsystems.intake
+
+enum class CoralIntakeState {
+    Intaking,
+    Idle,
+    Scoring
+}
+
+enum class AlgaeIntakeState {
+    Intaking,
+    Idle,
+    Scoring
+}
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSystem.kt b/src/main/java/frc/robot/subsystems/intake/IntakeSystem.kt
@@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase
 
 // By making a subsystem a Kotlin object, we ensure there is only ever one instance of it.
 // It also reduces the need to have reference variables for the subsystems to be passed around.
-object IntakeSystem : SubsystemBase() {
+class IntakeSystem(private val io: IntakeIO) : SubsystemBase() {
     /**
      * Example command factory method.
      *

diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIO.kt b/src/main/java/frc/robot/subsystems/pivot/PivotIO.kt
@@ -4,8 +4,8 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration
 import com.ctre.phoenix6.hardware.TalonFX
 
 interface PivotIO {
-    var talonFX: TalonFX
-    var talonFXConfigs: TalonFXConfiguration
-    fun getPivotEncoder(): Double
-    fun setPivotMotor(x: Double)
+//    fun getPivotEncoder(): Double
+
+    //    fun setPivotMotor(x: Double)
+    fun setAngle(angleDegrees: Double)
 }
diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.kt b/src/main/java/frc/robot/subsystems/pivot/PivotIOReal.kt
@@ -24,12 +24,16 @@ class PivotIOReal : PivotIO {
         talonFX.getConfigurator().apply(talonFXConfigurations)
     }
 
-    override fun getPivotEncoder(): Double {
+    fun getPivotEncoder(): Double {
         TODO("Not yet implemented")
         return 0.0;
     }
 
-    override fun setPivotMotor(x: Double) {
-        talonFX.setControl(MotionMagicVoltage(rotations))
+    fun setPivotMotor(x: Double) {
+        talonFX.setControl(MotionMagicVoltage(x))
+    }
+
+    override fun setAngle(angleDegrees: Double) {
+        TODO("Not yet implemented")
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/pivot/PivotSystem.kt b/src/main/java/frc/robot/subsystems/pivot/PivotSystem.kt
@@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase
 
 // By making a subsystem a Kotlin object, we ensure there is only ever one instance of it.
 // It also reduces the need to have reference variables for the subsystems to be passed around.
-object PivotSystem : SubsystemBase() {
+class PivotSystem(private val io: PivotIO) : SubsystemBase() {
     /**
      * Example command factory method.
      *

diff --git a/src/main/java/frc/robot/subsystems/wrist/WristIO.kt b/src/main/java/frc/robot/subsystems/wrist/WristIO.kt
@@ -4,8 +4,7 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration
 import com.ctre.phoenix6.hardware.TalonFX
 
 interface WristIO {
-    var talonFX: TalonFX
-    var talonFXConfigs: TalonFXConfiguration
-    fun getWristEncoder(): Double
-    fun setWristMotor(x: Double)
+    //    fun getWristEncoder(): Double
+//    fun setWristMotor(x: Double)
+    fun setAngle(angleDegrees: Double)
 }
diff --git a/src/main/java/frc/robot/subsystems/wrist/WristIOReal.kt b/src/main/java/frc/robot/subsystems/wrist/WristIOReal.kt
@@ -5,7 +5,7 @@ import com.ctre.phoenix6.hardware.TalonFX
 import com.ctre.phoenix6.controls.MotionMagicVoltage
 import frc.robot.constants.WristConstants
 
-class WristIOReal : WristIO {
+class WristIOReal() : WristIO {
 
     var talonFX = TalonFX(WristConstants.id, WristConstants.canbus)
     var talonFXConfigurations = TalonFXConfiguration()
@@ -24,12 +24,16 @@ class WristIOReal : WristIO {
         talonFX.getConfigurator().apply(talonFXConfigurations)
     }
 
-    override fun getWristEncoder(): Double {
+    fun getWristEncoder(): Double {
         TODO("Not yet implemented")
         return 0.0;
     }
 
-    override fun setWristMotor(x: Double) {
-        talonFX.setControl(MotionMagicVoltage(rotations))
+    fun setWristMotor(x: Double) {
+        talonFX.setControl(MotionMagicVoltage(x))
+    }
+
+    override fun setAngle(angleDegrees: Double) {
+        TODO("Not yet implemented")
     }
 }
diff --git a/src/main/java/frc/robot/subsystems/wrist/WristSystem.kt b/src/main/java/frc/robot/subsystems/wrist/WristSystem.kt
@@ -4,7 +4,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase
 
 // By making a subsystem a Kotlin object, we ensure there is only ever one instance of it.
 // It also reduces the need to have reference variables for the subsystems to be passed around.
-object WristSystem : SubsystemBase() {
+class WristSystem(private val io: WristIO) : SubsystemBase() {
     /**
      * Example command factory method.
      *