From ffd79239856844cf4b852153da0e5774e24647a9 Mon Sep 17 00:00:00 2001
From: 00magikarp <94652654+00magikarp@users.noreply.github.com>
Date: Tue, 23 Jan 2024 18:50:56 -0500
Subject: [PATCH] completed saraansh's peer review

---
 .../robot2023/subsystems/feeder/Feeder.kt     | 22 +++++--------------
 .../robot2023/subsystems/feeder/FeederIO.kt   |  2 ++
 .../subsystems/feeder/FeederIONeo.kt          |  8 +------
 .../subsystems/superstructure/Request.kt      |  1 -
 4 files changed, 8 insertions(+), 25 deletions(-)

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt
index 026f7be6..3fe709cb 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt
@@ -65,28 +65,19 @@ class Feeder(val io: FeederIO) : SubsystemBase() {
     var nextState = currentState
     when (currentState) {
       FeederStates.UNINITIALIZED -> {
-        nextState = FeederStates.IDLE
-      }
-      FeederStates.IDLE -> {
-        setFeederVoltage(FeederConstants.FEEDER_IDLE_VOLTAGE)
-        nextState = fromRequestToState(currentRequest)
+        nextState = FeederStates.OPEN_LOOP_INTAKE
       }
       FeederStates.OPEN_LOOP_INTAKE -> {
-
         if (!hasNote) {
           setFeederVoltage(feederTargetVoltage)
-          nextState = fromRequestToState(currentRequest)
-        } else {
-          nextState = FeederStates.IDLE
-        }
+          }
+        nextState = fromRequestToState(currentRequest)
       }
       FeederStates.OPEN_LOOP_SHOOT -> {
         if (hasNote) {
           setFeederVoltage(feederTargetVoltage)
-          nextState = fromRequestToState(currentRequest)
-        } else {
-          nextState = FeederStates.IDLE
         }
+        nextState = fromRequestToState(currentRequest)
       }
     }
     currentState = nextState
@@ -112,22 +103,19 @@ class Feeder(val io: FeederIO) : SubsystemBase() {
   companion object {
     enum class FeederStates {
       UNINITIALIZED,
-      IDLE,
       OPEN_LOOP_INTAKE,
       OPEN_LOOP_SHOOT;
 
       fun equivalentToRequest(request: Request.FeederRequest): Boolean {
         return (
           (request is Request.FeederRequest.OpenLoopIntake && this == OPEN_LOOP_SHOOT) ||
-            (request is Request.FeederRequest.OpenLoopIntake && this == OPEN_LOOP_INTAKE) ||
-            (request is Request.FeederRequest.Idle && this == IDLE)
+            (request is Request.FeederRequest.OpenLoopIntake && this == OPEN_LOOP_INTAKE)
           )
       }
     }
 
     fun fromRequestToState(request: Request.FeederRequest): FeederStates {
       return when (request) {
-        is Request.FeederRequest.Idle -> FeederStates.IDLE
         is Request.FeederRequest.OpenLoopIntake -> FeederStates.OPEN_LOOP_INTAKE
         is Request.FeederRequest.OpenLoopShoot -> FeederStates.OPEN_LOOP_SHOOT
       }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIO.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIO.kt
index 9464277b..00fafbbf 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIO.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIO.kt
@@ -33,6 +33,7 @@ interface FeederIO {
       table?.put("feederStatorCurrent", feederStatorCurrent.inAmperes)
       table?.put("feederSupplyCurrent", feederSupplyCurrent.inAmperes)
       table?.put("feederTempCelcius", feederTemp.inCelsius)
+      table?.put("feederBeamBroken", beamBroken)
     }
 
     override fun fromLog(table: LogTable?) {
@@ -53,6 +54,7 @@ interface FeederIO {
       }
 
       table?.get("feederTempCelcius", feederTemp.inCelsius)?.let { feederTemp = it.celsius }
+      table?.get("feederBeamBroken", beamBroken)?.let { beamBroken = it }
     }
   }
 
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIONeo.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIONeo.kt
index 380d625b..80c437a0 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIONeo.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/feeder/FeederIONeo.kt
@@ -37,7 +37,6 @@ object FeederIONeo : FeederIO {
 
     feederSparkMax.idleMode = CANSparkMax.IdleMode.kCoast
 
-    feederSparkMax.openLoopRampRate = 0.0
     feederSparkMax.burnFlash()
 
     MotorChecker.add(
@@ -47,7 +46,7 @@ object FeederIONeo : FeederIO {
         mutableListOf(Neo(feederSparkMax, "Roller Motor")),
         FeederConstants.FEEDER_CURRENT_LIMIT,
         70.celsius,
-        FeederConstants.FEEDER_CURRENT_LIMIT - 0.amps,
+        30.amps,
         90.celsius
       ),
     )
@@ -66,11 +65,6 @@ object FeederIONeo : FeederIO {
       inputs.feederStatorCurrent * feederSparkMax.appliedOutput.absoluteValue
     inputs.feederTemp = feederSparkMax.motorTemperature.celsius
 
-    Logger.recordOutput(
-      "Intake/rollerMotorOvercurrentFault",
-      feederSparkMax.getFault(CANSparkMax.FaultID.kOvercurrent)
-    )
-    Logger.recordOutput("Intake/busVoltage", feederSparkMax.busVoltage)
   }
 
   /**
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt
index fc1afc4e..6c8b29bd 100644
--- a/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt
+++ b/src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Request.kt
@@ -28,7 +28,6 @@ sealed interface Request {
   }
 
   sealed interface FeederRequest : Request {
-    class Idle() : FeederRequest
     class OpenLoopIntake(val feederVoltage: ElectricalPotential) : FeederRequest
     class OpenLoopShoot(val feederVoltage: ElectricalPotential) : FeederRequest
   }