Added basic shooter subsystems with IO pattern

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

@@ -10,23 +10,31 @@
 public class RobotContainer {
   private final CommandJoystick joystick = new CommandJoystick(0);
 
-  // private final Shooter shooter;
+  private final Shooter shooter;
 
   public RobotContainer() {
     // Use real or sim ShooterIO
-    // shooter = new Shooter(RobotBase.isReal() ? new ShooterIOTalonFX() : new ShooterIOSim());
+    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
-    /*
+    /* 
     joystick
         .button(1)
         .whileTrue(Commands.run(() -> shooter.spin(0.5), shooter))
         .onFalse(Commands.run(() -> shooter.stop(), shooter));
     */
+
+    joystick
+      .button(1)
+      .whileTrue(Commands.run(() -> shooter.spin(1.0), shooter))
+      .onFalse(Commands.run(() -> shooter.stop(), shooter));
+
+
   }
 }

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

@@ -1,27 +1,55 @@
 package frc.robot.subsystems.shooter;
 
+import edu.wpi.first.wpilibj.RobotBase;
 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
+  private ShooterIO io;
+
   // TODO: Add a private field for your ShooterIOInputs instance and initialize it
+  private ShooterIO.ShooterIOInputs inputs = new ShooterIO.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
+    io.updateInputs(inputs);
+    if (!RobotBase.isReal()) {
+        if (true) {
+            spin(0.5);
+        } else {
+            stop();
+        }}
+
+    System.out.println(inputs.motorRPM);
   }
 
   // TODO: Add a public method to spin the shooter motor at a given percentage output
   // public void spin(double percent) { ... }
+  public void spin(double percent) {
+    io.setMotorPercentOutput(percent);
+  }
 
   // TODO: Add a public method to stop the shooter motor
   // public void stop() { ... }
+  public void stop() {
+    io.setMotorPercentOutput(0.0);
+  }
 
   // TODO: Add a public method to return the current motor RPM
   // public double getCurrentRPM() { ... }
+  public double getCurrentRPM() {
+    return inputs.motorRPM;
+  }
 }

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

@@ -6,15 +6,17 @@ public class ShooterIOSim implements ShooterIO {
   private static final double MAX_RPM = 6000.0;
 
   // TODO: Add a private field `simulatedMotorPercent` to store the simulated motor percentage
+  private double simulatedMotorPercent;
 
   @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
+    inputs.motorRPM = simulatedMotorPercent * MAX_RPM; // Placeholder - replace 0.0
   }
 
   @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

@@ -27,13 +27,18 @@ public ShooterIOTalonFX() {
   public void updateInputs(ShooterIOInputs inputs) {
     // TODO: Read the motor’s velocity (rotations per second) as a double using
     // motor.getVelocity().getValueAsDouble()
-
+    double rps = motor.getVelocity().getValueAsDouble();
+
     // TODO: Save the RPM to inputs.motorRPM (convert from rotations per second)
+    inputs.motorRPM = rps * 60;
+
+
   }
 
   @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
+    motor.setControl(dutyCycleOut.withOutput(percent));
   }
 }