fix: dio ports

src/main/java/org/team1540/robot2024/Constants.java

@@ -19,6 +19,12 @@
  * constants are needed, to reduce verbosity.
  */
 public final class Constants {
+    public static final class DIO {
+        public static final int INTAKE_BEAM_BREAK = 6;
+        public static final int SHOOTER_BEAM_BREAK = 4;
+        public static final int INDEXER_BEAM_BREAK = 5;
+        public static final int TRAMP_BEAM_BREAK = 9;
+    }
     public static final boolean IS_COMPETITION_ROBOT = true;
     // Whether to pull PID constants from SmartDashboard
     private static final boolean tuningMode = true; // TODO: DO NOT SET TO TRUE FOR COMP
@@ -89,7 +95,6 @@ public static class Auto {
     }
 
     public static class Indexer {
-        public static final int BEAM_BREAK_ID = IS_COMPETITION_ROBOT ? 7 : 8;
         public static final int INTAKE_ID = 13;
         public static final int FEEDER_ID = 15;
 
@@ -257,7 +262,6 @@ public enum ElevatorState {
     }
 
     public static class Tramp {
-        public static final int BEAM_BREAK_CHANNEL = 9;
         public static final double GEAR_RATIO = 9.0;
         public static final int MOTOR_ID = 17;
     }

src/main/java/org/team1540/robot2024/Robot.java

@@ -4,6 +4,7 @@
 import com.pathplanner.lib.commands.FollowPathCommand;
 import com.pathplanner.lib.commands.PathfindingCommand;
 import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.DriverStation;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -30,6 +31,8 @@
 public class Robot extends LoggedRobot {
     private Command autonomousCommand;
     private RobotContainer robotContainer;
+    private DigitalInput intakeBeamBreak = new DigitalInput(Constants.DIO.INTAKE_BEAM_BREAK);
+    private DigitalInput shooterBeamBreak = new DigitalInput(Constants.DIO.SHOOTER_BEAM_BREAK);
 
     /**
      * This function is run when the robot is first started up and should be used for any
@@ -122,7 +125,8 @@ public void robotPeriodic() {
         // the Command-based framework to work.
         CommandScheduler.getInstance().run();
         if (Constants.currentMode == Constants.Mode.REAL) robotContainer.odometrySignalRefresher.periodic();
-
+        Logger.recordOutput("beambreak/shooter", shooterBeamBreak.get());
+        Logger.recordOutput("beambreak/intake", intakeBeamBreak.get());
         // Update mechanism visualiser in sim
         if (Robot.isSimulation()) MechanismVisualiser.periodic();
 //        robotContainer.leds.setPattern(Leds.Zone.ZONE1, SimpleLedPattern.alternating(Color.kBlueViolet, Color.kGreen));

src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOSim.java

@@ -15,7 +15,7 @@ public class IndexerIOSim implements IndexerIO {
     private final DCMotorSim intakeSim = new DCMotorSim(DCMotor.getNEO(1), INTAKE_GEAR_RATIO, INTAKE_MOI);
     private final DCMotorSim feederSim = new DCMotorSim(DCMotor.getNEO(1), FEEDER_GEAR_RATIO, FEEDER_MOI);
     //    private final SimDeviceSim beamBreakSim = new SimDeviceSim("Indexer Beam Break");
-    private final DigitalInput indexerBeamBreak = new DigitalInput(BEAM_BREAK_ID);
+    private final DigitalInput indexerBeamBreak = new DigitalInput(Constants.DIO.INDEXER_BEAM_BREAK);
     private final PIDController feederSimPID = new PIDController(FEEDER_KP, FEEDER_KI, FEEDER_KD);
     private boolean isClosedLoop = true;
     private double intakeVoltage = 0.0;

src/main/java/org/team1540/robot2024/subsystems/indexer/IndexerIOTalonFX.java

@@ -10,13 +10,14 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj.DigitalInput;
+import org.team1540.robot2024.Constants;
 
 import static org.team1540.robot2024.Constants.Indexer.*;
 
 public class IndexerIOTalonFX implements IndexerIO {
     private final TalonFX intakeMotor = new TalonFX(INTAKE_ID);
     private final TalonFX feederMotor = new TalonFX(FEEDER_ID);
-    private final DigitalInput indexerBeamBreak = new DigitalInput(BEAM_BREAK_ID);
+    private final DigitalInput indexerBeamBreak = new DigitalInput(Constants.DIO.INDEXER_BEAM_BREAK);
 
     private final VoltageOut feederVoltageCtrlReq = new VoltageOut(0).withEnableFOC(true);
     private final VelocityVoltage feederVelocityCtrlReq = new VelocityVoltage(0).withEnableFOC(true);

src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSim.java

@@ -6,12 +6,11 @@
 import edu.wpi.first.wpilibj.simulation.DCMotorSim;
 import org.team1540.robot2024.Constants;
 
-import static org.team1540.robot2024.Constants.Tramp.BEAM_BREAK_CHANNEL;
 import static org.team1540.robot2024.Constants.Tramp.GEAR_RATIO;
 
 public class TrampIOSim implements TrampIO {
     private final DCMotorSim sim = new DCMotorSim(DCMotor.getNEO(1), GEAR_RATIO, 0.025); //TODO: Fix MOI its probably wrong :D
-    private final DigitalInput beamBreak = new DigitalInput(BEAM_BREAK_CHANNEL);
+    private final DigitalInput beamBreak = new DigitalInput(Constants.DIO.TRAMP_BEAM_BREAK);
     private double appliedVolts = 0.0;
 
 

src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOSparkMax.java

@@ -4,11 +4,12 @@
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import edu.wpi.first.wpilibj.DigitalInput;
+import org.team1540.robot2024.Constants;
 
 import static org.team1540.robot2024.Constants.Tramp.*;
 
 public class TrampIOSparkMax implements TrampIO {
-    private final DigitalInput beamBreak = new DigitalInput(BEAM_BREAK_CHANNEL);
+    private final DigitalInput beamBreak = new DigitalInput(Constants.DIO.TRAMP_BEAM_BREAK);
     private final CANSparkMax motor = new CANSparkMax(MOTOR_ID, MotorType.kBrushless);
     private final RelativeEncoder motorEncoder = motor.getEncoder();
 

src/main/java/org/team1540/robot2024/subsystems/tramp/TrampIOTalonFX.java

@@ -7,12 +7,12 @@
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj.DigitalInput;
+import org.team1540.robot2024.Constants;
 
-import static org.team1540.robot2024.Constants.Tramp.BEAM_BREAK_CHANNEL;
 import static org.team1540.robot2024.Constants.Tramp.MOTOR_ID;
 
 public class TrampIOTalonFX implements TrampIO {
-    private final DigitalInput beamBreak = new DigitalInput(BEAM_BREAK_CHANNEL);
+    private final DigitalInput beamBreak = new DigitalInput(Constants.DIO.TRAMP_BEAM_BREAK);
     private final TalonFX motor = new TalonFX(MOTOR_ID);
     private final StatusSignal<Double> velocity = motor.getVelocity();
     private final StatusSignal<Double> position = motor.getPosition();