add backpack

Mechanical-Advantage · Feb 17, 2024 · f0a1596 · f0a1596
1 parent 557f9f6
commit f0a1596
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Showing 19 changed files with 38 additions and 20 deletions.
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/backpack/BackpackIO.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/backpack/BackpackIO.java
@@ -0,0 +1,5 @@
+package org.littletonrobotics.frc2024.subsystems.rollers.backpack;
+
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIO;
+
+public interface BackpackIO extends GenericRollerSystemIO {}
diff --git a/...n/java/org/littletonrobotics/frc2024/subsystems/rollers/backpack/BackpackIOSparkFlex.java b/...n/java/org/littletonrobotics/frc2024/subsystems/rollers/backpack/BackpackIOSparkFlex.java
@@ -0,0 +1,15 @@
+package org.littletonrobotics.frc2024.subsystems.rollers.backpack;
+
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIOSparkFlex;
+
+public class BackpackIOSparkFlex extends GenericRollerSystemIOSparkFlex implements BackpackIO {
+    private static final int id = 0;
+    private static final int currentLimitAmps = 40;
+    private static final boolean invert = false;
+    private static final boolean brake = true;
+    private static final double reduction = (1.0 / 1.0);
+
+    public BackpackIOSparkFlex() {
+        super(id, currentLimitAmps, invert, brake, reduction);
+    }
+}
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/Feeder.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/Feeder.java
@@ -11,8 +11,7 @@
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem.VoltageGoal;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystem;
 import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
 
 @Setter

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/FeederIO.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/FeederIO.java
@@ -7,6 +7,6 @@
 
 package org.littletonrobotics.frc2024.subsystems.rollers.feeder;
 
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIO;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIO;
 
 public interface FeederIO extends GenericRollerSystemIO {}
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/FeederIOKrakenFOC.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/FeederIOKrakenFOC.java
@@ -7,7 +7,7 @@
 
 package org.littletonrobotics.frc2024.subsystems.rollers.feeder;
 
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIOKrakenFOC;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIOKrakenFOC;
 
 public class FeederIOKrakenFOC extends GenericRollerSystemIOKrakenFOC implements FeederIO {
   private static final int id = 3;

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/FeederIOSim.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/feeder/FeederIOSim.java
@@ -8,7 +8,7 @@
 package org.littletonrobotics.frc2024.subsystems.rollers.feeder;
 
 import edu.wpi.first.math.system.plant.DCMotor;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIOSim;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIOSim;
 
 public class FeederIOSim extends GenericRollerSystemIOSim implements FeederIO {
   private static final DCMotor motorModel = DCMotor.getKrakenX60Foc(1);

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/Indexer.java
@@ -11,8 +11,7 @@
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem.VoltageGoal;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystem;
 import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
 
 @Setter

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/IndexerIO.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/IndexerIO.java
@@ -7,6 +7,6 @@
 
 package org.littletonrobotics.frc2024.subsystems.rollers.indexer;
 
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIO;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIO;
 
 public interface IndexerIO extends GenericRollerSystemIO {}
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/IndexerIOSim.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/IndexerIOSim.java
@@ -8,7 +8,7 @@
 package org.littletonrobotics.frc2024.subsystems.rollers.indexer;
 
 import edu.wpi.first.math.system.plant.DCMotor;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIOSim;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIOSim;
 
 public class IndexerIOSim extends GenericRollerSystemIOSim implements IndexerIO {
   private static final DCMotor motorModel = DCMotor.getKrakenX60Foc(1);

diff --git a/...ain/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/IndexerIOSparkFlex.java b/...ain/java/org/littletonrobotics/frc2024/subsystems/rollers/indexer/IndexerIOSparkFlex.java
@@ -7,7 +7,7 @@
 
 package org.littletonrobotics.frc2024.subsystems.rollers.indexer;
 
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIOSparkFlex;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIOSparkFlex;
 
 public class IndexerIOSparkFlex extends GenericRollerSystemIOSparkFlex implements IndexerIO {
   private static final double reduction = (18.0 / 12.0);

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/Intake.java
@@ -11,8 +11,7 @@
 import lombok.Getter;
 import lombok.RequiredArgsConstructor;
 import lombok.Setter;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystem.VoltageGoal;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystem;
 import org.littletonrobotics.frc2024.util.LoggedTunableNumber;
 
 @Setter

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/IntakeIO.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/IntakeIO.java
@@ -7,6 +7,6 @@
 
 package org.littletonrobotics.frc2024.subsystems.rollers.intake;
 
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIO;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIO;
 
 public interface IntakeIO extends GenericRollerSystemIO {}
diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/IntakeIOKrakenFOC.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/IntakeIOKrakenFOC.java
@@ -7,7 +7,7 @@
 
 package org.littletonrobotics.frc2024.subsystems.rollers.intake;
 
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIOKrakenFOC;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIOKrakenFOC;
 
 public class IntakeIOKrakenFOC extends GenericRollerSystemIOKrakenFOC implements IntakeIO {
   private static final int id = 2;

diff --git a/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/IntakeIOSim.java b/src/main/java/org/littletonrobotics/frc2024/subsystems/rollers/intake/IntakeIOSim.java
@@ -8,7 +8,7 @@
 package org.littletonrobotics.frc2024.subsystems.rollers.intake;
 
 import edu.wpi.first.math.system.plant.DCMotor;
-import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIOSim;
+import org.littletonrobotics.frc2024.util.drivers.rollers.GenericRollerSystemIOSim;
 
 public class IntakeIOSim extends GenericRollerSystemIOSim implements IntakeIO {
   private static final DCMotor motorModel = DCMotor.getKrakenX60Foc(1);

diff --git a/...bsystems/rollers/GenericRollerSystem.java → .../drivers/rollers/GenericRollerSystem.java b/...bsystems/rollers/GenericRollerSystem.java → .../drivers/rollers/GenericRollerSystem.java
@@ -5,10 +5,11 @@
 // license that can be found in the LICENSE file at
 // the root directory of this project.
 
-package org.littletonrobotics.frc2024.subsystems.rollers;
+package org.littletonrobotics.frc2024.util.drivers.rollers;
 
 import java.util.function.DoubleSupplier;
 import lombok.RequiredArgsConstructor;
+import org.littletonrobotics.frc2024.subsystems.rollers.GenericRollerSystemIOInputsAutoLogged;
 import org.littletonrobotics.junction.Logger;
 
 @RequiredArgsConstructor

diff --git a/...ystems/rollers/GenericRollerSystemIO.java → ...rivers/rollers/GenericRollerSystemIO.java b/...ystems/rollers/GenericRollerSystemIO.java → ...rivers/rollers/GenericRollerSystemIO.java
@@ -5,7 +5,7 @@
 // license that can be found in the LICENSE file at
 // the root directory of this project.
 
-package org.littletonrobotics.frc2024.subsystems.rollers;
+package org.littletonrobotics.frc2024.util.drivers.rollers;
 
 import org.littletonrobotics.junction.AutoLog;
 

diff --git a/...llers/GenericRollerSystemIOKrakenFOC.java → ...llers/GenericRollerSystemIOKrakenFOC.java b/...llers/GenericRollerSystemIOKrakenFOC.java → ...llers/GenericRollerSystemIOKrakenFOC.java
@@ -5,7 +5,7 @@
 // license that can be found in the LICENSE file at
 // the root directory of this project.
 
-package org.littletonrobotics.frc2024.subsystems.rollers;
+package org.littletonrobotics.frc2024.util.drivers.rollers;
 
 import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;

diff --git a/...ems/rollers/GenericRollerSystemIOSim.java → ...ers/rollers/GenericRollerSystemIOSim.java b/...ems/rollers/GenericRollerSystemIOSim.java → ...ers/rollers/GenericRollerSystemIOSim.java
@@ -5,7 +5,7 @@
 // license that can be found in the LICENSE file at
 // the root directory of this project.
 
-package org.littletonrobotics.frc2024.subsystems.rollers;
+package org.littletonrobotics.frc2024.util.drivers.rollers;
 
 import edu.wpi.first.math.MathUtil;
 import edu.wpi.first.math.system.plant.DCMotor;

diff --git a/...llers/GenericRollerSystemIOSparkFlex.java → ...llers/GenericRollerSystemIOSparkFlex.java b/...llers/GenericRollerSystemIOSparkFlex.java → ...llers/GenericRollerSystemIOSparkFlex.java
@@ -5,7 +5,7 @@
 // license that can be found in the LICENSE file at
 // the root directory of this project.
 
-package org.littletonrobotics.frc2024.subsystems.rollers;
+package org.littletonrobotics.frc2024.util.drivers.rollers;
 
 import com.revrobotics.CANSparkBase;
 import com.revrobotics.CANSparkFlex;