IO for FEEDER

src/main/java/org/sciborgs1155/robot/shooter/ShooterConstants.java

@@ -22,6 +22,9 @@ public static class FF {
 
   public static class Feeder {
     public static final double GEARING = -1;
+
+    public static final double kV = 1;
+    public static final double kA = 1;
   }
 
   public static class Pivot {

src/main/java/org/sciborgs1155/robot/shooter/feeder/FeederIO.java

@@ -4,6 +4,6 @@
 public interface FeederIO {
 
   public void setFeederVoltage(double voltage);
+  // public double getFeederVoltage();
 
-  public double getFeederSpeed();
 }

src/main/java/org/sciborgs1155/robot/shooter/feeder/RealFeeder.java

@@ -1,18 +1,26 @@
 package org.sciborgs1155.robot.shooter.feeder;
 
+import static org.sciborgs1155.robot.Ports.Shooter.Feeder.*;
+
+import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
-public class RealFeeder implements FeederIO{
-    CANSparkFlex motor  = new CANSparkFlex(0, MotorType.kBrushless)
+public class RealFeeder implements FeederIO {
 
-    @Override
-    public double getFeederSpeed(){
+  private final CANSparkFlex motor = new CANSparkFlex(FEEDER_SPARK, MotorType.kBrushless);
 
-    }
+  public RealFeeder() {
+    motor.setIdleMode(IdleMode.kBrake);
+  }
 
-    @Override
-    public void setFeederVoltage(double speed){
+  // @Override
+  // public double getFeederVoltage() {
+  //     return motor.getBusVoltage();
+  // }
 
-    }
+  @Override
+  public void setFeederVoltage(double speed) {
+    motor.setVoltage(speed);
+  }
 }

src/main/java/org/sciborgs1155/robot/shooter/feeder/SimFeeder.java

@@ -1,3 +1,23 @@
 package org.sciborgs1155.robot.shooter.feeder;
 
-public class SimFeeder {}
+import static org.sciborgs1155.robot.shooter.ShooterConstants.Feeder.*;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.math.system.plant.LinearSystemId;
+import edu.wpi.first.wpilibj.simulation.DCMotorSim;
+
+public class SimFeeder implements FeederIO {
+  DCMotor motor = DCMotor.getNEO(1);
+
+  private final DCMotorSim simMotor =
+      new DCMotorSim(LinearSystemId.createDCMotorSystem(kV, kA), motor, GEARING);
+
+  // @Override public double getFeederVoltage(){
+  //     motor.getVoltage()
+  // }
+
+  @Override
+  public void setFeederVoltage(double voltage) {
+    simMotor.setInputVoltage(voltage);
+  }
+}