Merge pull request #4 from SciBorgs/hopper

Hopper

src/main/java/org/sciborgs1155/robot/Ports.java

@@ -30,4 +30,10 @@ public static final class Scoral {
     public static final int BOTTOM_ROLLER = 22;
     public static final int BEAMBREAK = 23;
   }
+
+  public static final class Hopper {
+    public static final int LEFT_MOTOR = -1;
+    public static final int RIGHT_MOTOR = -1;
+    public static final int BEAMBREAK = -1;
+  }
 }

src/main/java/org/sciborgs1155/robot/hopper/Hopper.java

@@ -0,0 +1,68 @@
+package org.sciborgs1155.robot.hopper;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import org.sciborgs1155.robot.Robot;
+
+public class Hopper extends SubsystemBase implements AutoCloseable {
+  /** Creates a real or non-existent hopper based on {@link Robot#isReal()}. */
+  public static Hopper create() {
+    return Robot.isReal() ? new Hopper(new RealHopper()) : Hopper.none();
+  }
+
+  /** Creates a non-existent hopper. */
+  public static Hopper none() {
+    return new Hopper(new NoHopper());
+  }
+
+  private final HopperIO hardware;
+  public final Trigger beambreakTrigger;
+
+  public Hopper(HopperIO hardware) {
+    this.hardware = hardware;
+    this.beambreakTrigger = new Trigger(hardware::beambreak);
+  }
+
+  /**
+   * Runs the motors of the hopper.
+   *
+   * @param power The power to set the hoppers motors to.
+   * @return A command to set the power of the hopper motors.
+   */
+  public Command run(double power) {
+    return runOnce(() -> hardware.setPower(power));
+  }
+
+  /**
+   * Intakes corals from human player.
+   *
+   * @return A command to intake corals.
+   */
+  public Command intake() {
+    return run(HopperConstants.INTAKE_POWER); // more logic later
+  }
+
+  /**
+   * Outtake corals.
+   *
+   * @return A command to outtake corals.
+   */
+  public Command outtake() {
+    return run(-HopperConstants.INTAKE_POWER);
+  }
+
+  /**
+   * Stops the hopper.
+   *
+   * @return A command to stop the hopper.
+   */
+  public Command stop() {
+    return run(0);
+  }
+
+  @Override
+  public void close() throws Exception {
+    hardware.close();
+  }
+}

src/main/java/org/sciborgs1155/robot/hopper/HopperConstants.java

@@ -0,0 +1,5 @@
+package org.sciborgs1155.robot.hopper;
+
+public class HopperConstants {
+  public static final double INTAKE_POWER = 0.9;
+}

src/main/java/org/sciborgs1155/robot/hopper/HopperIO.java

@@ -0,0 +1,7 @@
+package org.sciborgs1155.robot.hopper;
+
+public interface HopperIO extends AutoCloseable {
+  void setPower(double power);
+
+  boolean beambreak();
+}

src/main/java/org/sciborgs1155/robot/hopper/NoHopper.java

@@ -0,0 +1,14 @@
+package org.sciborgs1155.robot.hopper;
+
+public class NoHopper implements HopperIO {
+  @Override
+  public void setPower(double power) {}
+
+  @Override
+  public boolean beambreak() {
+    return false;
+  }
+
+  @Override
+  public void close() {}
+}

src/main/java/org/sciborgs1155/robot/hopper/RealHopper.java

@@ -0,0 +1,45 @@
+package org.sciborgs1155.robot.hopper;
+
+import com.revrobotics.spark.SparkBase.PersistMode;
+import com.revrobotics.spark.SparkBase.ResetMode;
+import com.revrobotics.spark.SparkLowLevel.MotorType;
+import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import edu.wpi.first.wpilibj.DigitalInput;
+import org.sciborgs1155.robot.Ports.Hopper;
+
+public class RealHopper implements HopperIO {
+  private final SparkMax leftMotor = new SparkMax(Hopper.LEFT_MOTOR, MotorType.kBrushless);
+  private final SparkMax rightMotor = new SparkMax(Hopper.RIGHT_MOTOR, MotorType.kBrushless);
+  private final DigitalInput beambreak = new DigitalInput(Hopper.BEAMBREAK);
+
+  public RealHopper() {
+    SparkBaseConfig config = new SparkMaxConfig(); // prob more configs to do
+    config.inverted(true);
+
+    rightMotor.configure(
+        config,
+        ResetMode.kResetSafeParameters,
+        PersistMode.kPersistParameters); // one of the motors are inverted so that the motors can
+    // intake/outtake right
+  }
+
+  @Override
+  public void setPower(double power) {
+    leftMotor.set(power);
+    rightMotor.set(power);
+  }
+
+  @Override
+  public boolean beambreak() {
+    return beambreak.get();
+  }
+
+  @Override
+  public void close() {
+    leftMotor.close();
+    rightMotor.close();
+    beambreak.close();
+  }
+}