Luis is very confused/26 lesson3 completed

tasks/java-evaluation/Elevator.java

@@ -0,0 +1,22 @@
+public class Elevator {
+    private int floor;
+
+    public Elevator(int start) {
+        System.out.println("Elevator instantiated at floor " + start);
+        floor = start;
+    }
+
+    public void moveUp() {
+        floor++;
+        System.out.println("Moving up... now at floor " + floor);
+    }
+
+    public void moveDown() {
+        floor--;
+        System.out.println("Moving down... now at floor " + floor);
+    }
+
+    public int getCurrentFloor() {
+        return floor;
+    }
+}

tasks/java-evaluation/ElevatorController.java

@@ -0,0 +1,26 @@
+public class ElevatorController {
+    private int minFloor;
+    private int maxFloor;
+    private Elevator elevator;
+
+    public ElevatorController(Elevator e, int min, int max) {
+        elevator = e;
+        minFloor = min;
+        maxFloor = max;
+    }
+
+    public void goToFloor(int floor) {
+        if (floor < minFloor || floor > maxFloor) {
+            System.out.println("Floor " + floor + " is not a valid floor");
+        } else {
+            while (elevator.getCurrentFloor() != floor) {
+                if (elevator.getCurrentFloor() < floor) {
+                    elevator.moveUp();
+                } else {
+                    elevator.moveDown();
+                }
+            }
+            System.out.println("Arrived at floor " + floor);
+        }
+    }
+}

tasks/java-evaluation/Main.java

@@ -0,0 +1,12 @@
+public class Main {
+    public static void main(String[] args) {
+        Elevator elevator = new Elevator(1);
+        ElevatorController controller = new ElevatorController(elevator, 1, 5);
+        controller.goToFloor(3);
+        controller.goToFloor(2);
+        controller.goToFloor(0);
+        controller.goToFloor(6);
+        controller.goToFloor(5);
+        controller.goToFloor(1);
+    }
+}

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

@@ -22,6 +22,7 @@ public RobotContainer() {
 
   private void configureBindings() {
     // TODO: Bind indexForSeconds(1.5) to joystick button 1
+    joystick.button(1).onTrue(indexer.indexForSeconds(1.5));
   }
 
   public Command getAutonomousCommand() {

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

@@ -5,21 +5,25 @@
 package frc.robot.subsystems;
 
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.*;
 
 public class Indexer extends SubsystemBase {
   // TODO: Add indexing state variable here
-
+  private boolean indexing;
   /** Creates a new Indexer subsystem. */
-  public Indexer() {}
-
+  public Indexer() {
+    indexing = false;
+  }
   /** 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;
   }
 
   /**
@@ -29,10 +33,14 @@ public void stopIndexing() {
    */
   public boolean isIndexing() {
     // TODO: Return indexing state
-    return false;
+    return indexing;
   }
 
   // TODO: Implement indexForSeconds() command factory
+  public Command indexForSeconds(double seconds) {
+    // return Commands.runOnce(() -> startIndexing()).withTimeout(seconds).runOnce(() -> stopIndexing());
+    return Commands.runOnce(() -> startIndexing()).andThen(Commands.waitSeconds(seconds)).andThen(()-> stopIndexing());
+  }
 
   @Override
   public void periodic() {

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

@@ -10,23 +10,19 @@
 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));
-    */
   }
 }

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

@@ -1,27 +1,42 @@
 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 ShooterIO io;
 
+  private 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
+    io.updateInputs(inputs);
+    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

@@ -4,17 +4,19 @@
 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;
+  private double simulatedMotorPercent;
 
   // TODO: Add a private field `simulatedMotorPercent` to store the simulated motor percentage
 
   @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 +27,15 @@ 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));
   }
 }