Spindexer gets treatment

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

@@ -41,10 +41,10 @@
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.shooter.ShooterIOSim;
 import frc.robot.subsystems.shooter.ShooterIOTalonFX;
-import frc.robot.subsystems.spindex.ShooterFeederIOTalonFX;
+import frc.robot.subsystems.spindex.BaseSpindexConstants;
 import frc.robot.subsystems.spindex.Spindex;
 import frc.robot.subsystems.spindex.SpindexConstants;
-import frc.robot.subsystems.spindex.SpindexIOTalonFX;
+import frc.robot.subsystems.spindex.SpindexFeederConstants;
 import frc.robot.subsystems.swerve.*;
 import frc.robot.subsystems.turret.*;
 import frc.robot.subsystems.vision.Vision;
@@ -104,9 +104,9 @@ public class RobotContainer {
   private final Spindex spindex =
       new Spindex(
           Constants.FeatureFlags.kSpindexEnabled,
-          new SpindexIOTalonFX(),
-          new ShooterFeederIOTalonFX(),
-          new BeamBreakIOBanner(SpindexConstants.kSpindexBeamBreakDIO));
+          new SingleMotorSubsystemIOTalonFX<SpindexConstants>(),
+          new SingleMotorSubsystemIOTalonFX<SpindexFeederConstants>(),
+          new BeamBreakIOBanner(BaseSpindexConstants.kSpindexBeamBreakDIO));
   private final Vision vision = new Vision(new VisionIOLimelight());
 
   private final Superstructure superstructure =

src/main/java/frc/robot/subsystems/spindex/BaseSpindexConstants.java

@@ -0,0 +1,15 @@
+// Copyright (c) 2024 FRC 3256
+// https://github.com/Team3256
+//
+// Use of this source code is governed by a 
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package frc.robot.subsystems.spindex;
+
+public class BaseSpindexConstants {
+  public static int kFlashConfigRetries = 5;
+  public static double kStatusSignalUpdateFrequency = 50; // idk if this is right
+  public static boolean kUseMotionMagic = false;
+  public static int kSpindexBeamBreakDIO = 1;
+}

src/main/java/frc/robot/subsystems/spindex/Spindex.java

@@ -12,6 +12,8 @@
 import frc.robot.subsystems.BeamBreakIO;
 import frc.robot.subsystems.BeamBreakIOInputsAutoLogged;
 import frc.robot.utils.DisableSubsystem;
+import frc.robot.utils.generics.SingleMotorSubsystemIO;
+import frc.robot.utils.generics.SingleMotorSubsystemInputsAutoLogged;
 import org.littletonrobotics.junction.Logger;
 
 // Copyright (c) 2024 FRC 3256
@@ -23,24 +25,25 @@
 
 public class Spindex extends DisableSubsystem {
 
-  private final SpindexIO spindexIO;
-  private final SpindexIOInputsAutoLogged spindexIOAutoLogged = new SpindexIOInputsAutoLogged();
+  private final SingleMotorSubsystemIO spindexIO;
+  private final SingleMotorSubsystemInputsAutoLogged spindexIOAutoLogged =
+      new SingleMotorSubsystemInputsAutoLogged();
 
   private final BeamBreakIO beamBreakIO;
   private final BeamBreakIOInputsAutoLogged beamBreakIOAutoLogged =
       new BeamBreakIOInputsAutoLogged();
 
-  private final ShooterFeederIO shooterFeederIO;
-  private final ShooterFeederIOInputsAutoLogged shooterFeederIOAutoLogged =
-      new ShooterFeederIOInputsAutoLogged();
+  private final SingleMotorSubsystemIO shooterFeederIO;
+  private final SingleMotorSubsystemInputsAutoLogged shooterFeederIOAutoLogged =
+      new SingleMotorSubsystemInputsAutoLogged();
 
   public final Trigger debouncedBeamBreak = new Trigger(() -> beamBreakIOAutoLogged.beamBroken);
 
   // private beambreak Beambreak = new beamreak(1)
   public Spindex(
       boolean disabled,
-      SpindexIO spindexIO,
-      ShooterFeederIO shooterFeeder,
+      SingleMotorSubsystemIO spindexIO,
+      SingleMotorSubsystemIO shooterFeeder,
       BeamBreakIO beamBreakIO) {
     super(disabled);
     this.spindexIO = spindexIO;
@@ -59,21 +62,19 @@ public void periodic() {
   }
 
   public Command setSpindexVoltage(double voltage) {
-    return this.run(() -> spindexIO.setSpindexVoltage(voltage)).finallyDo(spindexIO::off);
+    return this.run(() -> spindexIO.setVoltage(voltage)).finallyDo(spindexIO::off);
   }
 
   public Command setSpindexVelocity(double velocity) {
-    return this.run(() -> spindexIO.setSpindexVelocity(velocity)).finallyDo(spindexIO::off);
+    return this.run(() -> spindexIO.setVelocity(velocity)).finallyDo(spindexIO::off);
   }
 
   public Command setShooterFeederVoltage(double voltage) {
-    return this.run(() -> shooterFeederIO.setFeederVoltage(voltage))
-        .finallyDo(shooterFeederIO::off);
+    return this.run(() -> shooterFeederIO.setVoltage(voltage)).finallyDo(shooterFeederIO::off);
   }
 
   public Command setShooterFeederVelocity(double velocity) {
-    return this.run(() -> shooterFeederIO.setFeederVelocity(velocity))
-        .finallyDo(shooterFeederIO::off);
+    return this.run(() -> shooterFeederIO.setVelocity(velocity)).finallyDo(shooterFeederIO::off);
   }
 
   public Command goToShooter() {
@@ -83,7 +84,7 @@ public Command goToShooter() {
   }
 
   public Command feedNoteToShooter() {
-    return setShooterFeederVoltage(SpindexConstants.shooterFeederVoltage)
+    return setShooterFeederVoltage(SpindexFeederConstants.shooterFeederVoltage)
         .until(() -> beamBreakIOAutoLogged.beamBroken)
         .finallyDo(shooterFeederIO::off);
   }

src/main/java/frc/robot/subsystems/spindex/SpindexConstants.java

@@ -7,14 +7,18 @@
 
 package frc.robot.subsystems.spindex;
 
-import com.ctre.phoenix6.configs.*;
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotionMagicConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import frc.robot.utils.generics.SingleMotorConstants;
 
-public class SpindexConstants {
-  public static final int spindexMotorID = 0;
-  public static final double spindexMotorSpeedRPS = 0.8;
-  public static TalonFXConfiguration spindexMotorConfigs =
+public class SpindexConstants extends BaseSpindexConstants implements SingleMotorConstants {
+  public static final int kMotorID = 0;
+  public static TalonFXConfiguration kMotorConfig =
       new TalonFXConfiguration() // TODO: tune
           .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
           .withMotorOutput(
@@ -30,28 +34,10 @@ public class SpindexConstants {
               new CurrentLimitsConfigs()
                   .withStatorCurrentLimitEnable(true)
                   .withStatorCurrentLimit(80));
-  ;
-  public static int flashConfigRetries = 5;
-  public static double updateFrequency = 50; // idk if this is right
-  public static boolean useMotionMagic = false;
-  public static int kSpindexBeamBreakDIO = 1;
-  public static TalonFXConfiguration feederMotorConfigs =
-      new TalonFXConfiguration() // TODO: tune
-          .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
-          .withMotorOutput(
-              new MotorOutputConfigs()
-                  .withNeutralMode(NeutralModeValue.Brake)
-                  .withInverted(InvertedValue.Clockwise_Positive))
-          .withMotionMagic(
-              new MotionMagicConfigs()
-                  .withMotionMagicAcceleration(120)
-                  .withMotionMagicCruiseVelocity(60)
-                  .withMotionMagicJerk(1200))
-          .withCurrentLimits(
-              new CurrentLimitsConfigs()
-                  .withStatorCurrentLimitEnable(true)
-                  .withStatorCurrentLimit(80));
-  ;
-  public static int shooterFeederMotorID = 43;
-  public static double shooterFeederVoltage = 8;
+
+  public static final double spindexMotorSpeedRPS = 0.8;
+
+  public static class SimulationConstants {
+    public static final double kGearRatio = 1.0;
+  }
 }

src/main/java/frc/robot/subsystems/spindex/SpindexFeederConstants.java

@@ -0,0 +1,40 @@
+// Copyright (c) 2024 FRC 3256
+// https://github.com/Team3256
+//
+// Use of this source code is governed by a 
+// license that can be found in the LICENSE file at
+// the root directory of this project.
+
+package frc.robot.subsystems.spindex;
+
+import com.ctre.phoenix6.configs.*;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+import frc.robot.utils.generics.SingleMotorConstants;
+
+public class SpindexFeederConstants extends BaseSpindexConstants implements SingleMotorConstants {
+  public static int kMotorID = 43;
+  public static TalonFXConfiguration kMotorConfig =
+      new TalonFXConfiguration() // TODO: tune
+          .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
+          .withMotorOutput(
+              new MotorOutputConfigs()
+                  .withNeutralMode(NeutralModeValue.Brake)
+                  .withInverted(InvertedValue.Clockwise_Positive))
+          .withMotionMagic(
+              new MotionMagicConfigs()
+                  .withMotionMagicAcceleration(120)
+                  .withMotionMagicCruiseVelocity(60)
+                  .withMotionMagicJerk(1200))
+          .withCurrentLimits(
+              new CurrentLimitsConfigs()
+                  .withStatorCurrentLimitEnable(true)
+                  .withStatorCurrentLimit(80));
+  ;
+
+  public static double shooterFeederVoltage = 8;
+
+  public static class SimulationConstants {
+    public static final double kGearRatio = 1.0;
+  }
+}