added default shooter command

Robot2024/src/main/java/com/team2813/RobotContainer.java

@@ -14,21 +14,28 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 
 import com.team2813.commands.DefaultDriveCommand;
+import com.team2813.commands.DefaultShooterCommand;
 import com.team2813.subsystems.Drive;
+import com.team2813.subsystems.Shooter;
+
 import static com.team2813.Constants.*;
 import static com.team2813.Constants.DriverConstants.*;
+import static com.team2813.Constants.OperatorConstants.*;
 
 public class RobotContainer {
 	private final SendableChooser<Command> autoChooser;
 	private final Drive drive = new Drive();
+	private final Shooter shooter = new Shooter();
 	private final XboxController driverController = new XboxController(driverControllerPort);
+	private final XboxController operatorController = new XboxController(operatorControllerPort);
 	public RobotContainer() {
 		drive.setDefaultCommand(new DefaultDriveCommand(
                 () -> -modifyAxis(driverController.getLeftY()) * Drive.MAX_VELOCITY,
                 () -> -modifyAxis(driverController.getLeftX()) * Drive.MAX_VELOCITY,
                 () -> -modifyAxis(driverController.getRightX()) * Drive.MAX_ANGULAR_VELOCITY,
                 drive
         ));
+		shooter.setDefaultCommand(new DefaultShooterCommand(shooter, operatorController::getRightY));
 		configureBindings();
 		autoChooser = AutoBuilder.buildAutoChooser();
 		SmartDashboard.putData("Auto", autoChooser);

Robot2024/src/main/java/com/team2813/commands/DefaultShooterCommand.java

@@ -0,0 +1,34 @@
+package com.team2813.commands;
+
+import java.util.function.DoubleSupplier;
+
+import com.team2813.lib2813.control.ControlMode;
+import com.team2813.subsystems.Shooter;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class DefaultShooterCommand extends Command {
+	private Shooter shooter;
+	private DoubleSupplier controll;
+	public DefaultShooterCommand(Shooter shooter, DoubleSupplier controll) {
+		this.shooter = shooter;
+		this.controll = controll;
+	}
+	/**
+	 * The number to multiply results from {@link #controll}. Multiplies by {@value #MULTIPLIER}
+	 */
+	private static final double MULTIPLIER = 1;
+	private static final double DEADZONE = 0.01;
+	/**
+	 * Sets the motor to the value from the {@link DoubleSupplier} {@link #controll}.
+	 * Multiplies the result by {@value #MULTIPLIER}. The return from {@link #controll} MUST be less than or equal to 1.
+	 */
+	public void excecute() {
+		double val = controll.getAsDouble();
+		if (Math.abs(val) > DEADZONE) {
+			shooter.set(ControlMode.DUTY_CYCLE, val * MULTIPLIER);
+		} else {
+			shooter.set(ControlMode.DUTY_CYCLE, 0);
+		}
+	}
+}

Robot2024/src/main/java/com/team2813/subsystems/Shooter.java

@@ -1,6 +1,8 @@
 package com.team2813.subsystems;
 
+import com.team2813.lib2813.control.ControlMode;
 import com.team2813.lib2813.control.Motor;
+import com.team2813.lib2813.control.encoders.CancoderWrapper;
 import com.team2813.lib2813.control.motors.TalonFXWrapper;
 import com.team2813.lib2813.subsystems.MotorSubsystem;
 import static com.team2813.Constants.*;
@@ -13,13 +15,21 @@ public Shooter() {
 		// TODO: fix invert type
 		super(new MotorSubsystemConfiguration(
 			new TalonFXWrapper(SHOOTER_PIVOT, TalonFXInvertType.Clockwise),
-			null //TODO: write encoder class (embarassing wow)
+			new CancoderWrapper(SHOOTER_ENCODER)
 			));
 		TalonFXWrapper m = new TalonFXWrapper(SHOOTER_1, TalonFXInvertType.Clockwise);
 		m.addFollower(SHOOTER_2, TalonFXInvertType.OpposeMaster);
 		shooterMotor = m;
 		setSetpoint(Angle.TEST);
 	}
+	public void stop() {
+		shooterMotor.set(ControlMode.DUTY_CYCLE, 0);
+	}
+
+	public void run(double demand) {
+		shooterMotor.set(ControlMode.DUTY_CYCLE, demand);
+	}
+
 	public static enum Angle implements MotorSubsystem.Position {
 		TEST(0.0);
 		private final double pos;