Added Warren's changes to this branch

src/main/java/frc/robot/constants/ElevatorConstants.kt

@@ -0,0 +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 id = 0
+    val canbus = ""
+}

src/main/java/frc/robot/constants/IntakeConstants.kt

@@ -0,0 +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 id = 0
+    val canbus = ""
+}

src/main/java/frc/robot/constants/PivotConstants.kt

@@ -0,0 +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 id = 0
+    val canbus = ""
+}

src/main/java/frc/robot/constants/WristConstants.kt

@@ -0,0 +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 id = 0
+    val canbus = ""
+}

src/main/java/frc/robot/subsystems/elevator/ElevatorIO.kt

@@ -0,0 +1,11 @@
+package frc.robot.subsystems.elevator
+
+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)
+}

src/main/java/frc/robot/subsystems/elevator/ElevatorIOReal.kt

@@ -0,0 +1,35 @@
+package frc.robot.subsystems.elevator
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration
+import com.ctre.phoenix6.hardware.TalonFX
+import com.ctre.phoenix6.controls.MotionMagicVoltage
+import frc.robot.constants.ElevatorConstants
+
+class ElevatorIOReal : ElevatorIO {
+
+    var talonFX = TalonFX(ElevatorConstants.id, ElevatorConstants.canbus)
+    var talonFXConfigurations = TalonFXConfiguration()
+
+    init {
+        talonFXConfigurations.Slot0.kG = ElevatorConstants.kG
+        talonFXConfigurations.Slot0.kS = ElevatorConstants.kS
+        talonFXConfigurations.Slot0.kV = ElevatorConstants.kV
+        talonFXConfigurations.Slot0.kA = ElevatorConstants.kA
+        talonFXConfigurations.Slot0.kP = ElevatorConstants.kP
+        talonFXConfigurations.Slot0.kI = ElevatorConstants.kI
+        talonFXConfigurations.Slot0.kD = ElevatorConstants.kD
+        talonFXConfigurations.MotionMagic.MotionMagicCruiseVelocity = ElevatorConstants.targetVelocity
+        talonFXConfigurations.MotionMagic.MotionMagicAcceleration = ElevatorConstants.targetAcceleration
+        talonFXConfigurations.MotionMagic.MotionMagicJerk = ElevatorConstants.targetJerk
+        talonFX.getConfigurator().apply(talonFXConfigurations)
+    }
+
+    override fun getElevatorEncoder(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    override fun setMotorPosition(rotations: Double) {
+        talonFX.setControl(MotionMagicVoltage(rotations))
+    }
+}

src/main/java/frc/robot/subsystems/elevator/ElevatorSystem.kt

@@ -0,0 +1,51 @@
+package frc.robot.subsystems.elevator
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase
+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() {
+    /**
+     * Example command factory method.
+     *
+     * @return a command
+     */
+//    fun exampleMethodCommand(): Command = runOnce {
+//        // Subsystem.runOnce() implicitly add `this` as a required subsystem.
+//        // TODO: one-time action goes here
+//    }
+
+    /**
+     * An example method querying a boolean state of the subsystem (for example, a digital sensor).
+     *
+     * @return value of some boolean subsystem state, such as a digital sensor.
+     */
+//    fun exampleCondition(): Boolean {
+//        // Query some boolean state, such as a digital sensor.
+//        return false
+//    }
+
+    override fun periodic() {
+        // This method will be called once per scheduler run
+    }
+
+    override fun simulationPeriodic() {
+        // This method will be called once per scheduler run during simulation
+    }
+
+//    fun exampleAction()
+//    {
+//        // This action is called by the ExampleCommand
+//        println("ExampleSubsystem.exampleAction has been called")
+//    }
+
+    fun getPos(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    fun setPos(x: Double) {
+        TODO("Not yet implemented")
+    }
+}

src/main/java/frc/robot/subsystems/intake/IntakeIO.kt

@@ -0,0 +1,11 @@
+package frc.robot.subsystems.intake
+
+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)
+}

src/main/java/frc/robot/subsystems/intake/IntakeIOReal.kt

@@ -0,0 +1,35 @@
+package frc.robot.subsystems.intake
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration
+import com.ctre.phoenix6.hardware.TalonFX
+import com.ctre.phoenix6.controls.MotionMagicVoltage
+import frc.robot.constants.IntakeConstants
+
+class IntakeIOReal : IntakeIO {
+
+    var talonFX = TalonFX(IntakeConstants.id, IntakeConstants.canbus)
+    var talonFXConfigurations = TalonFXConfiguration()
+
+    init {
+        talonFXConfigurations.Slot0.kG = IntakeConstants.kG
+        talonFXConfigurations.Slot0.kS = IntakeConstants.kS
+        talonFXConfigurations.Slot0.kV = IntakeConstants.kV
+        talonFXConfigurations.Slot0.kA = IntakeConstants.kA
+        talonFXConfigurations.Slot0.kP = IntakeConstants.kP
+        talonFXConfigurations.Slot0.kI = IntakeConstants.kI
+        talonFXConfigurations.Slot0.kD = IntakeConstants.kD
+        talonFXConfigurations.MotionMagic.MotionMagicCruiseVelocity = IntakeConstants.targetVelocity
+        talonFXConfigurations.MotionMagic.MotionMagicAcceleration = IntakeConstants.targetAcceleration
+        talonFXConfigurations.MotionMagic.MotionMagicJerk = IntakeConstants.targetJerk
+        talonFX.getConfigurator().apply(talonFXConfigurations)
+    }
+
+    override fun getIntakeEncoder(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    override fun setIntakeMotor(x: Double) {
+        talonFX.setControl(MotionMagicVoltage(rotations))
+    }
+}

src/main/java/frc/robot/subsystems/intake/IntakeSystem.kt

@@ -0,0 +1,50 @@
+package frc.robot.subsystems.intake
+
+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() {
+    /**
+     * Example command factory method.
+     *
+     * @return a command
+     */
+//    fun exampleMethodCommand(): Command = runOnce {
+//        // Subsystem.runOnce() implicitly add `this` as a required subsystem.
+//        // TODO: one-time action goes here
+//    }
+
+    /**
+     * An example method querying a boolean state of the subsystem (for example, a digital sensor).
+     *
+     * @return value of some boolean subsystem state, such as a digital sensor.
+     */
+//    fun exampleCondition(): Boolean {
+//        // Query some boolean state, such as a digital sensor.
+//        return false
+//    }
+
+    override fun periodic() {
+        // This method will be called once per scheduler run
+    }
+
+    override fun simulationPeriodic() {
+        // This method will be called once per scheduler run during simulation
+    }
+
+//    fun exampleAction()
+//    {
+//        // This action is called by the ExampleCommand
+//        println("ExampleSubsystem.exampleAction has been called")
+//    }
+
+    fun getPos(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    fun setPos(x: Double) {
+        TODO("Not yet implemented")
+    }
+}

src/main/java/frc/robot/subsystems/pivot/PivotIO.kt

@@ -0,0 +1,11 @@
+package frc.robot.subsystems.pivot
+
+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)
+}

src/main/java/frc/robot/subsystems/pivot/PivotIOReal.kt

@@ -0,0 +1,35 @@
+package frc.robot.subsystems.pivot
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration
+import com.ctre.phoenix6.hardware.TalonFX
+import com.ctre.phoenix6.controls.MotionMagicVoltage
+import frc.robot.constants.PivotConstants
+
+class PivotIOReal : PivotIO {
+
+    var talonFX = TalonFX(PivotConstants.id, PivotConstants.canbus)
+    var talonFXConfigurations = TalonFXConfiguration()
+
+    init {
+        talonFXConfigurations.Slot0.kG = PivotConstants.kG
+        talonFXConfigurations.Slot0.kS = PivotConstants.kS
+        talonFXConfigurations.Slot0.kV = PivotConstants.kV
+        talonFXConfigurations.Slot0.kA = PivotConstants.kA
+        talonFXConfigurations.Slot0.kP = PivotConstants.kP
+        talonFXConfigurations.Slot0.kI = PivotConstants.kI
+        talonFXConfigurations.Slot0.kD = PivotConstants.kD
+        talonFXConfigurations.MotionMagic.MotionMagicCruiseVelocity = PivotConstants.targetVelocity
+        talonFXConfigurations.MotionMagic.MotionMagicAcceleration = PivotConstants.targetAcceleration
+        talonFXConfigurations.MotionMagic.MotionMagicJerk = PivotConstants.targetJerk
+        talonFX.getConfigurator().apply(talonFXConfigurations)
+    }
+
+    override fun getPivotEncoder(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    override fun setPivotMotor(x: Double) {
+        talonFX.setControl(MotionMagicVoltage(rotations))
+    }
+}

src/main/java/frc/robot/subsystems/pivot/PivotSystem.kt

@@ -0,0 +1,50 @@
+package frc.robot.subsystems.pivot
+
+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() {
+    /**
+     * Example command factory method.
+     *
+     * @return a command
+     */
+//    fun exampleMethodCommand(): Command = runOnce {
+//        // Subsystem.runOnce() implicitly add `this` as a required subsystem.
+//        // TODO: one-time action goes here
+//    }
+
+    /**
+     * An example method querying a boolean state of the subsystem (for example, a digital sensor).
+     *
+     * @return value of some boolean subsystem state, such as a digital sensor.
+     */
+//    fun exampleCondition(): Boolean {
+//        // Query some boolean state, such as a digital sensor.
+//        return false
+//    }
+
+    override fun periodic() {
+        // This method will be called once per scheduler run
+    }
+
+    override fun simulationPeriodic() {
+        // This method will be called once per scheduler run during simulation
+    }
+
+//    fun exampleAction()
+//    {
+//        // This action is called by the ExampleCommand
+//        println("ExampleSubsystem.exampleAction has been called")
+//    }
+
+    fun getPos(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    fun setPos(x: Double) {
+        TODO("Not yet implemented")
+    }
+}

src/main/java/frc/robot/subsystems/wrist/WristIO.kt

@@ -0,0 +1,11 @@
+package frc.robot.subsystems.wrist
+
+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)
+}

src/main/java/frc/robot/subsystems/wrist/WristIOReal.kt

@@ -0,0 +1,35 @@
+package frc.robot.subsystems.wrist
+
+import com.ctre.phoenix6.configs.TalonFXConfiguration
+import com.ctre.phoenix6.hardware.TalonFX
+import com.ctre.phoenix6.controls.MotionMagicVoltage
+import frc.robot.constants.WristConstants
+
+class WristIOReal : WristIO {
+
+    var talonFX = TalonFX(WristConstants.id, WristConstants.canbus)
+    var talonFXConfigurations = TalonFXConfiguration()
+
+    init {
+        talonFXConfigurations.Slot0.kG = WristConstants.kG
+        talonFXConfigurations.Slot0.kS = WristConstants.kS
+        talonFXConfigurations.Slot0.kV = WristConstants.kV
+        talonFXConfigurations.Slot0.kA = WristConstants.kA
+        talonFXConfigurations.Slot0.kP = WristConstants.kP
+        talonFXConfigurations.Slot0.kI = WristConstants.kI
+        talonFXConfigurations.Slot0.kD = WristConstants.kD
+        talonFXConfigurations.MotionMagic.MotionMagicCruiseVelocity = WristConstants.targetVelocity
+        talonFXConfigurations.MotionMagic.MotionMagicAcceleration = WristConstants.targetAcceleration
+        talonFXConfigurations.MotionMagic.MotionMagicJerk = WristConstants.targetJerk
+        talonFX.getConfigurator().apply(talonFXConfigurations)
+    }
+
+    override fun getWristEncoder(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    override fun setWristMotor(x: Double) {
+        talonFX.setControl(MotionMagicVoltage(rotations))
+    }
+}

src/main/java/frc/robot/subsystems/wrist/WristSystem.kt

@@ -0,0 +1,50 @@
+package frc.robot.subsystems.wrist
+
+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() {
+    /**
+     * Example command factory method.
+     *
+     * @return a command
+     */
+//    fun exampleMethodCommand(): Command = runOnce {
+//        // Subsystem.runOnce() implicitly add `this` as a required subsystem.
+//        // TODO: one-time action goes here
+//    }
+
+    /**
+     * An example method querying a boolean state of the subsystem (for example, a digital sensor).
+     *
+     * @return value of some boolean subsystem state, such as a digital sensor.
+     */
+//    fun exampleCondition(): Boolean {
+//        // Query some boolean state, such as a digital sensor.
+//        return false
+//    }
+
+    override fun periodic() {
+        // This method will be called once per scheduler run
+    }
+
+    override fun simulationPeriodic() {
+        // This method will be called once per scheduler run during simulation
+    }
+
+//    fun exampleAction()
+//    {
+//        // This action is called by the ExampleCommand
+//        println("ExampleSubsystem.exampleAction has been called")
+//    }
+
+    fun getPos(): Double {
+        TODO("Not yet implemented")
+        return 0.0;
+    }
+
+    fun setPos(x: Double) {
+        TODO("Not yet implemented")
+    }
+}