Shooter

.vscode/settings.json

@@ -1,5 +1,6 @@
+
 {
-  "java.configuration.updateBuildConfiguration": "interactive",
+  "java.configuration.updateBuildConfiguration": "disabled",
   "java.server.launchMode": "Standard",
   "files.exclude": {
     "**/.git": true,

build.gradle

@@ -2,7 +2,7 @@ import edu.wpi.first.gradlerio.deploy.roborio.RoboRIO
 
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2022.3.1"
+    id "edu.wpi.first.GradleRIO" version "2022.4.1"
     id "jacoco"
 }
 

src/main/java/frc/robot/Robot.java

@@ -29,12 +29,14 @@ public class Robot extends TimedRobot {
     DriveModule rightModule;
     LoggableController driver;
     LoggableController operator;
+    Shooter shooter;
 
     LoggablePowerDistribution pdp;
     LoggableCompressor compressor;
 
     boolean drivetrainEnabled = true;
     boolean tankDriveEnabled = true;
+    boolean shooterEnabled = true;
 
     private static final double DEADBAND_LIMIT = 0.01;
     private static final double SPEED_CAP = 0.6;
@@ -78,6 +80,13 @@ public void robotInit() {
         } else {
             System.out.println("Drivetrain initialization disabled.");
         }
+        if (this.shooterEnabled) {
+            System.out.println("Initializing shooter...");
+            shooter = new Shooter(6);
+            logger.addLoggable(shooter); 
+        } else {
+            System.out.println("Shooter initialization disabled.");
+        }
 
         System.out.print("Initializing compressor...");
         compressor = new LoggableCompressor(PneumaticsModuleType.REVPH);
@@ -134,6 +143,9 @@ public void teleopPeriodic() {
             leftModule.updateCurrent();
             rightModule.updateCurrent();
         }
+        if (this.shooterEnabled) {
+            shooter.setSpeed(driver.getRightTriggerAxis());
+        }
 
         logger.log();
         logger.writeLine();

src/main/java/frc/robot/Shooter.java

@@ -0,0 +1,38 @@
+package frc.robot;
+
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonFX;
+import frc.robot.logging.Loggable;
+import frc.robot.logging.Logger;
+
+public class Shooter implements Loggable {
+    TalonFX shooterMotor;
+    public Shooter(int shooterID) {
+        this.shooterMotor = new TalonFX(shooterID);
+
+        this.shooterMotor.setNeutralMode(NeutralMode.Coast);
+    }
+
+    public void setSpeed(double speed) {
+        shooterMotor.set(ControlMode.Velocity, speed);
+    }
+
+    public void setPower(double power) {
+        shooterMotor.set(ControlMode.PercentOutput, power);
+    }
+
+    public double getSpeed() {
+        return shooterMotor.getSelectedSensorVelocity();
+    }
+
+    @Override
+    public void setupLogging(Logger logger) {
+        logger.addAttribute("Shooter/speed");
+    }
+
+    @Override
+    public void log(Logger logger) {
+        logger.log("Shooter/speed", this.getSpeed());
+    }
+}