added driver commands: note intake, note outtake, note shoot; added c…

…ommand SetFeedersTargetRPM

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2024.2.1"
+    id "edu.wpi.first.GradleRIO" version "2024.3.1"
     id "com.peterabeles.gversion" version "1.10"
     id "com.diffplug.spotless" version "6.12.0"
 }

src/main/java/frc/robot/Constants.java

@@ -67,12 +67,16 @@ public static class ModuleConstants {
   public static class IntakeConstants {
     public static final int CURRENT_LIMIT = 30;
     public static final boolean CURRENT_LIMIT_ENABLED = true;
+
+    public static final double INTAKE_NOTE_VELOCITY_RPM = -100;
   }
 
   public static final class ShooterConstants {
     public static final double FEEDER_CURRENT_LIMIT = 40;
     public static final boolean FEEDER_CURRENT_LIMIT_ENABLED = true;
 
+    public static final double FEEDER_INTAKE_NOTE_VELOCITY_RPM = -100;
+
     public static final double FLYWHEEL_CURRENT_LIMIT = 40;
     public static final boolean FLYWHEEL_CURRENT_LIMIT_ENABLED = true;
 
@@ -103,6 +107,8 @@ public static class PivotConstants {
     public static final double[] PID = {0, 0, 0};
 
     public static final double REDUCTION = (15.0 / 1.0) * (34.0 / 24.0) * (24.0 / 18.0) * (50.0/14.0);
+
+    public static final double PIVOT_ANGLE_DEGREES = 30;
   }
 
   public static class LEDConstants {

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

@@ -21,8 +21,11 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.InstantCommand;
+import edu.wpi.first.wpilibj2.command.ParallelCommandGroup;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.DriveCommands;
+import frc.robot.commands.SetFeedersTargetRPM;
+import frc.robot.commands.SetPivotTarget;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.drive.GyroIO;
 import frc.robot.subsystems.drive.GyroIOPigeon2;
@@ -173,8 +176,10 @@ private void configureButtonBindings() {
             () -> -controller.getLeftX(),
             () -> -controller.getRightX()));
     // controller.x().onTrue(Commands.runOnce(drive::stopWithX, drive));
+
+    // resets the gyro
     controller
-        .b()
+        .start()
         .onTrue(
             Commands.runOnce(
                     () ->
@@ -192,6 +197,27 @@ private void configureButtonBindings() {
     controller.a().onTrue(new InstantCommand(() -> intake.setRollerVelocityRPM(1000), intake));
     controller.a().onFalse(new InstantCommand(intake::stopRollers, intake));
 
+    // note intake
+    controller.rightBumper().whileTrue(new ParallelCommandGroup(
+      new SetPivotTarget(Constants.PivotConstants.PIVOT_ANGLE_DEGREES, pivot),
+
+      new InstantCommand(() -> intake.setRollerVelocityRPM(Constants.IntakeConstants.INTAKE_NOTE_VELOCITY_RPM)),
+
+      new SetFeedersTargetRPM(Constants.ShooterConstants.FEEDER_INTAKE_NOTE_VELOCITY_RPM, shooter)
+    ));
+
+    // note outtake
+    controller.leftBumper().whileTrue(new ParallelCommandGroup(
+      new SetPivotTarget(Constants.PivotConstants.PIVOT_ANGLE_DEGREES, pivot),
+
+      new InstantCommand(() -> intake.setRollerVelocityRPM(-1 * Constants.IntakeConstants.INTAKE_NOTE_VELOCITY_RPM)),
+
+      new SetFeedersTargetRPM(-1 * Constants.ShooterConstants.FEEDER_INTAKE_NOTE_VELOCITY_RPM, shooter) 
+    ));
+
+    // note shoot 
+    controller.rightTrigger().whileTrue(new SetFeedersTargetRPM(Constants.ShooterConstants.FEEDER_INTAKE_NOTE_VELOCITY_RPM, shooter));
+
     // controller.a().onTrue(new SetElevatorTarget(10, elevator));
     // controller.a().onFalse(new InstantCommand(elevator::elevatorStop, elevator));
 

src/main/java/frc/robot/commands/SetFeedersTargetRPM.java

@@ -0,0 +1,44 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.shooter.Shooter;
+
+public class SetFeedersTargetRPM extends Command {
+  /** Creates a new SetFeedersRPM. */
+
+  private final Shooter shooter;
+  private final double rpm;
+
+  public SetFeedersTargetRPM(double rpm, Shooter shooter) {
+    this.rpm = rpm;
+    this.shooter = shooter;
+
+    addRequirements(shooter);
+    // Use addRequirements() here to declare subsystem dependencies.
+  }
+
+  // Called when the command is initially scheduled.
+  @Override
+  public void initialize() {
+    shooter.setFeedersRPM(rpm);
+  }
+
+  // Called every time the scheduler runs while the command is scheduled.
+  @Override
+  public void execute() {}
+
+  // Called once the command ends or is interrupted.
+  @Override
+  public void end(boolean interrupted) {}
+
+  // Returns true when the command should end.
+  // TODO needs to be implemented
+  @Override
+  public boolean isFinished() {
+    return false;
+  }
+}