Complete shooter motor task

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

@@ -10,11 +10,11 @@
 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();
   }
@@ -28,5 +28,9 @@ private void configureBindings() {
         .whileTrue(Commands.run(() -> shooter.spin(0.5), shooter))
         .onFalse(Commands.run(() -> shooter.stop(), shooter));
     */
+    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 +1,39 @@
 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
-
-  // TODO: Create the constructor that takes a ShooterIO instance as a parameter
-  // public Shooter(ShooterIO io) { ... }
+  // Add a private field for your ShooterIO instance
+  private ShooterIO shooterIO = new ShooterIOTalonFX();
+  // Add a private field for your ShooterIOInputs instance and initialize it
+  private ShooterIOInputs shooterIOInputs = new ShooterIOInputs();
+  // Create the constructor that takes a ShooterIO instance as a parameter
+  public Shooter(ShooterIO io) {
+    this.shooterIO = io;
+  }
 
   @Override
   public void periodic() {
     // This method will be called once per scheduler run
-    // TODO: Call the updateInputs method on your ShooterIO instance
+    // Call the updateInputs method on your ShooterIO instance
+    shooterIO.updateInputs(shooterIOInputs);
+    System.out.println(shooterIOInputs.motorRPM);
   }
 
-  // TODO: Add a public method to spin the shooter motor at a given percentage output
-  // public void spin(double percent) { ... }
+  // Add a public method to spin the shooter motor at a given percentage output
+  public void spin(double percent) {
+    shooterIO.setMotorPercentOutput(percent);
+  }
 
-  // TODO: Add a public method to stop the shooter motor
-  // public void stop() { ... }
+  // Add a public method to stop the shooter motor
+  public void stop() {
+    shooterIO.setMotorPercentOutput(0.0);
+  }
 
-  // TODO: Add a public method to return the current motor RPM
-  // public double getCurrentRPM() { ... }
+  // Add a public method to return the current motor RPM
+  public double getCurrentRPM() {
+    return shooterIOInputs.motorRPM;
+  }
 }

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

@@ -5,16 +5,18 @@ 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
+  // Add a private field `simulatedMotorPercent` to 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 motorRPM by multiplying the stored simulatedMotorPercent by the max RPM
+    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
+    // 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) as a double using
+    double rps = motor.getVelocity().getValueAsDouble();
 
-    // TODO: Save the RPM to inputs.motorRPM (convert from rotations per second)
+    // 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
+    // Use motor.setControl and the dutyCycleOut variable to set the motor’s percent output
+    motor.setControl(dutyCycleOut);
   }
 }