Solutions

tasks/java-evaluation/Elevator.java

@@ -0,0 +1,19 @@
+public class Elevator {
+  private int floor;
+
+  public Elevator(int initialFloor) {
+    floor = initialFloor;
+  }
+
+  public void moveUp() {
+    floor++;
+  }
+
+  public void moveDown() {
+    floor--;
+  }
+
+  public int getCurrentFloor() {
+    return floor;
+  }
+}

tasks/java-evaluation/ElevatorController.java

@@ -0,0 +1,32 @@
+public class ElevatorController {
+  private Elevator elevator;
+  private final int MIN_FLOOR;
+  private final int MAX_FLOOR;
+
+  public ElevatorController(Elevator elevator, int minFloor, int maxFloor) {
+    this.elevator = elevator;
+    this.MIN_FLOOR = minFloor;
+    this.MAX_FLOOR = maxFloor;
+
+    System.out.println("Elevator instantiated at floor " + elevator.getCurrentFloor());
+  }
+
+  public void goToFloor(int goalFloor) {
+    if (goalFloor < MIN_FLOOR || goalFloor > MAX_FLOOR) {
+      System.out.println("Floor " + goalFloor + " is not a valid floor");
+      return;
+    }
+
+    while (elevator.getCurrentFloor() != goalFloor) {
+      if (goalFloor > elevator.getCurrentFloor()) {
+        elevator.moveUp();
+        System.out.println("Moving up... now at floor " + elevator.getCurrentFloor());
+      } else {
+        elevator.moveDown();
+        System.out.println("Moving down... now at floor " + elevator.getCurrentFloor());
+      }
+    }
+
+    System.out.println("Arrived at floor " + elevator.getCurrentFloor());
+  }
+}

tasks/java-evaluation/Main.java

@@ -0,0 +1,26 @@
+import java.util.Scanner;
+
+public class Main {
+  public static void main(String[] args) {
+    Elevator elevator = new Elevator(1);
+    ElevatorController elevatorController = new ElevatorController(elevator, 1, 5);
+
+    Scanner scanner = new Scanner(System.in);
+
+    while (true) {
+      System.out.print("\nRequest floor: ");
+      String input = scanner.next();
+
+      if (input.equals("quit") || input.equals("q")) break;
+
+      try {
+        int requestedFloor = Integer.parseInt(input);
+        elevatorController.goToFloor(requestedFloor);
+      } catch (NumberFormatException e) {
+        System.out.println("Please enter a valid number.");
+      }
+    }
+
+    scanner.close();
+  }
+}

tasks/lesson2-indexer-task/src/main/java/frc/robot/RobotContainer.java

@@ -21,7 +21,8 @@ public RobotContainer() {
   }
 
   private void configureBindings() {
-    // TODO: Bind indexForSeconds(1.5) to joystick button 1
+    // Bind button 1 on joystick to run indexForSeconds(1.5)
+    joystick.button(1).onTrue(indexer.indexForSeconds(1.5));
   }
 
   public Command getAutonomousCommand() {

tasks/lesson2-indexer-task/src/main/java/frc/robot/subsystems/Indexer.java

@@ -4,22 +4,24 @@
 
 package frc.robot.subsystems;
 
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
 public class Indexer extends SubsystemBase {
-  // TODO: Add indexing state variable here
+  private boolean indexing = false;
 
   /** Creates a new Indexer subsystem. */
   public Indexer() {}
 
   /** Starts the indexing process. */
   public void startIndexing() {
-    // TODO: Set indexing state to true
+    indexing = true;
   }
 
   /** Stops the indexing process. */
   public void stopIndexing() {
-    // TODO: Set indexing state to false
+    indexing = false;
   }
 
   /**
@@ -28,11 +30,20 @@ public void stopIndexing() {
    * @return true if indexing, false otherwise
    */
   public boolean isIndexing() {
-    // TODO: Return indexing state
-    return false;
+    return indexing;
   }
 
-  // TODO: Implement indexForSeconds() command factory
+  /**
+   * Returns a command that indexes for a given number of seconds.
+   *
+   * @param seconds duration to index
+   * @return a command that runs the indexer for the given time
+   */
+  public Command indexForSeconds(double seconds) {
+    return Commands.runOnce(this::startIndexing)
+        .andThen(Commands.waitSeconds(seconds))
+        .andThen(Commands.runOnce(this::stopIndexing));
+  }
 
   @Override
   public void periodic() {

tasks/lesson3-shooter-task/src/main/java/frc/robot/RobotContainer.java

@@ -10,23 +10,21 @@
 public class RobotContainer {
   private final CommandJoystick joystick = new CommandJoystick(0);
 
-  // private final Shooter shooter;
+  // Declare the Shooter subsystem
+  private final Shooter shooter;
 
   public RobotContainer() {
-    // Use real or sim ShooterIO
-    // shooter = new Shooter(RobotBase.isReal() ? new ShooterIOTalonFX() : new ShooterIOSim());
+    // Instantiate with real or sim implementation
+    shooter = new Shooter(RobotBase.isReal() ? new ShooterIOTalonFX() : new ShooterIOSim());
 
     configureBindings();
   }
 
   private void configureBindings() {
-    // Example binding: spin shooter at 50% while holding button 1
-    // Once the shooter is implemented, you should see the motor spinning at 3000rpm when button 1 is held down
-    /*
+    // Spin shooter at 50% while holding button 1
     joystick
         .button(1)
         .whileTrue(Commands.run(() -> shooter.spin(0.5), shooter))
         .onFalse(Commands.run(() -> shooter.stop(), shooter));
-    */
   }
 }

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -1,27 +1,38 @@
 package frc.robot.subsystems.shooter;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc.robot.subsystems.shooter.ShooterIO.ShooterIOInputs;
 
 // Main Shooter subsystem logic
 public class Shooter extends SubsystemBase {
-  // TODO: Add a private field for your ShooterIO instance
-  // TODO: Add a private field for your ShooterIOInputs instance and initialize it
+  private final ShooterIO io;
+  private final ShooterIOInputs inputs = new ShooterIOInputs();
 
-  // TODO: Create the constructor that takes a ShooterIO instance as a parameter
-  // public Shooter(ShooterIO io) { ... }
+  public Shooter(ShooterIO io) {
+    this.io = io;
+  }
 
   @Override
   public void periodic() {
-    // This method will be called once per scheduler run
-    // TODO: Call the updateInputs method on your ShooterIO instance
+    // Update sensor data from io
+    io.updateInputs(inputs);
+
+    // Debugging output
+    System.out.println("Shooter RPM: " + inputs.motorRPM);
   }
 
-  // TODO: Add a public method to spin the shooter motor at a given percentage output
-  // public void spin(double percent) { ... }
+  // Spin the shooter motor at a given percent output
+  public void spin(double percent) {
+    io.setMotorPercentOutput(percent);
+  }
 
-  // TODO: Add a public method to stop the shooter motor
-  // public void stop() { ... }
+  // Stop the shooter motor
+  public void stop() {
+    io.setMotorPercentOutput(0.0);
+  }
 
-  // TODO: Add a public method to return the current motor RPM
-  // public double getCurrentRPM() { ... }
+  // Return the current motor RPM
+  public double getCurrentRPM() {
+    return inputs.motorRPM;
+  }
 }

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java

@@ -5,16 +5,17 @@ public class ShooterIOSim implements ShooterIO {
   // Usually this would be in a Constants file, we have it here for convenience
   private static final double MAX_RPM = 6000.0;
 
-  // TODO: Add a private field `simulatedMotorPercent` to store the simulated motor percentage
+  // Store the simulated motor percentage
+  private double simulatedMotorPercent = 0.0;
 
   @Override
   public void updateInputs(ShooterIOInputs inputs) {
-    // TODO: Simulate motorRPM by multiplying the stored simulatedMotorPercent by the max RPM
-    inputs.motorRPM = 0.0; // Placeholder - replace 0.0
+    // Simulate motor RPM
+    inputs.motorRPM = simulatedMotorPercent * MAX_RPM;
   }
 
   @Override
   public void setMotorPercentOutput(double percent) {
-    // TODO: Store the given `percent` in your simulated motor percentage field
+    simulatedMotorPercent = percent;
   }
 }

tasks/lesson3-shooter-task/src/main/java/frc/robot/subsystems/shooter/ShooterIOTalonFX.java

@@ -25,15 +25,16 @@ public ShooterIOTalonFX() {
 
   @Override
   public void updateInputs(ShooterIOInputs inputs) {
-    // TODO: Read the motor’s velocity (rotations per second) as a double using
-    // motor.getVelocity().getValueAsDouble()
+    // Read the motor’s velocity (rotations per second)
+    double velocityRPS = motor.getVelocity().getValueAsDouble();
 
-    // TODO: Save the RPM to inputs.motorRPM (convert from rotations per second)
+    // Convert to RPM and store in inputs
+    inputs.motorRPM = velocityRPS * 60.0;
   }
 
   @Override
   public void setMotorPercentOutput(double percent) {
-    // TODO: Use motor.setControl and the dutyCycleOut variable to set the motor’s percent output
-    // Tip: Search up documentation for DutyCycleOut methods
+    // Set the percent output using DutyCycleOut
+    motor.setControl(dutyCycleOut.withOutput(percent));
   }
 }