From dda6bcaeefe357c989f619513ec12a65ba49667e Mon Sep 17 00:00:00 2001
From: Max Worrall <96847801+Tsunami014@users.noreply.github.com>
Date: Thu, 11 Jan 2024 14:10:01 +1100
Subject: [PATCH 1/6] Added base shooter class

---
 components/shooter.py | 32 ++++++++++++++++++++++++++++++++
 1 file changed, 32 insertions(+)
 create mode 100644 components/shooter.py

diff --git a/components/shooter.py b/components/shooter.py
new file mode 100644
index 00000000..e4d57aab
--- /dev/null
+++ b/components/shooter.py
@@ -0,0 +1,32 @@
+from magicbot import tunable
+import wpilib
+
+
+class Shooter:
+    shooter_motor: wpilib.Talon
+    shoot_speed = tunable(1.0)  # speed is tunable via NetworkTables
+
+    def __init__(self):
+        self.deployed = False
+
+    def shoot(self):
+        pass
+
+    def stop(self):
+        pass
+
+    def deploy(self):
+        """Causes the shooter motor to spin"""
+        self.deployed = True
+
+    def is_ready(self):
+        return True
+
+    def execute(self):
+        """This gets called at the end of the control loop"""
+        if self.deployed:
+            self.shooter_motor.set(self.shoot_speed)
+        else:
+            self.shooter_motor.set(0)
+
+        self.deployed = False

From 2bbee83d124fd0c1884bf6f6d558fa0491786b19 Mon Sep 17 00:00:00 2001
From: clubpenguin <amber.knights@thedropbears.org.au>
Date: Sun, 14 Jan 2024 10:56:28 +1100
Subject: [PATCH 2/6] added motors configuration aswell as the set speed and
 rotation

---
 components/shooter.py | 57 ++++++++++++++++++++++++++++++++-----------
 ids.py                |  8 ++++++
 2 files changed, 51 insertions(+), 14 deletions(-)

diff --git a/components/shooter.py b/components/shooter.py
index e4d57aab..c51f932b 100644
--- a/components/shooter.py
+++ b/components/shooter.py
@@ -1,32 +1,61 @@
-from magicbot import tunable
-import wpilib
+from magicbot import tunable, feedback
+from rev import CANSparkMax
+from ids import SparkMaxIds, TalonIds
+import phoenix6
+from phoenix6.configs import (
+    config_groups,
+    MotorOutputConfigs,
+)
+from phoenix6.controls import VoltageOut
+import phoenix6.hardware
 
 
 class Shooter:
-    shooter_motor: wpilib.Talon
-    shoot_speed = tunable(1.0)  # speed is tunable via NetworkTables
+    flywheel_speed = tunable(0.0)
+    inject_speed = tunable(0.0)
 
     def __init__(self):
         self.deployed = False
+        self.top_flywheel = phoenix6.hardware.TalonFX(TalonIds.top_flywheel)
+        self.bottom_flywheel = phoenix6.hardware.TalonFX(TalonIds.bottom_flywheel)
+        self.inject_flywheel = CANSparkMax(
+            SparkMaxIds.inject_flywheel, CANSparkMax.MotorType.kBrushless
+        )
 
-    def shoot(self):
-        pass
+        # Configure bottom flywheel motor
+        bottom_config = self.bottom_flywheel.configurator
+        bottom_flywheel_config = MotorOutputConfigs()
+        bottom_flywheel_config.inverted = config_groups.InvertedValue.CLOCKWISE_POSITIVE
+
+        bottom_config.apply(bottom_flywheel_config)
 
-    def stop(self):
-        pass
+        self.inject_flywheel.setInverted(True)
 
-    def deploy(self):
-        """Causes the shooter motor to spin"""
+        self.should_inject = False
+
+    def shoot(self):
+        """causes shooter motors to spin"""
         self.deployed = True
 
+    def inject(self):
+        self.should_inject = True
+
     def is_ready(self):
         return True
 
+    @feedback
+    def motor_speeds(self) -> float:
+        # return the current speed of both flywheel and inject motors
+        return self.flywheel_speed, self.inject_speed
+
     def execute(self):
         """This gets called at the end of the control loop"""
-        if self.deployed:
-            self.shooter_motor.set(self.shoot_speed)
+        voltsge_request = VoltageOut(12.0 * self.flywheel_speed)
+        if self.should_inject:
+            self.inject_flywheel.set(self.inject_speed)
         else:
-            self.shooter_motor.set(0)
+            self.inject_flywheel.set(0.0)
 
-        self.deployed = False
+        self.top_flywheel.set_control(voltsge_request)
+        self.bottom_flywheel.set_control(voltsge_request)
+        self.should_inject = False
diff --git a/ids.py b/ids.py
index c44404d8..4892e40a 100644
--- a/ids.py
+++ b/ids.py
@@ -15,6 +15,9 @@ class TalonIds(enum.IntEnum):
     drive_4 = 4
     steer_4 = 8
 
+    top_flywheel = 9
+    bottom_flywheel = 10
+
 
 @enum.unique
 class CancoderIds(enum.IntEnum):
@@ -22,3 +25,8 @@ class CancoderIds(enum.IntEnum):
     swerve_2 = 2
     swerve_3 = 3
     swerve_4 = 4
+
+
+@enum.unique
+class SparkMaxIds(enum.IntEnum):
+    inject_flywheel = 1

From b19a0139010ee811b3052ebdecfd1fb94285d100 Mon Sep 17 00:00:00 2001
From: clubpenguin <amber.knights@thedropbears.org.au>
Date: Sun, 14 Jan 2024 10:58:49 +1100
Subject: [PATCH 3/6] imported shooter component to robot.py and made an
 injecting button in teleopperiodic

---
 robot.py | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/robot.py b/robot.py
index 587925b1..600f9ca6 100644
--- a/robot.py
+++ b/robot.py
@@ -5,6 +5,7 @@
 import magicbot
 
 from components.chassis import Chassis
+from components.shooter import Shooter
 
 from utilities.scalers import rescale_js
 
@@ -14,6 +15,7 @@ class MyRobot(magicbot.MagicRobot):
 
     # Components
     chassis: Chassis
+    shooter: Shooter
 
     max_speed = magicbot.tunable(Chassis.max_wheel_speed * 0.95)
 
@@ -60,6 +62,10 @@ def teleopPeriodic(self) -> None:
         if self.rumble_timer.hasElapsed(self.rumble_duration):
             self.gamepad.setRumble(wpilib.XboxController.RumbleType.kBothRumble, 0)
 
+        # injecting
+        if self.gamepad.getBButton():
+            self.shooter.inject()
+
     def testInit(self) -> None:
         pass
 

From 58cd673db29299edae01f9a2bd76ae85bb4baee0 Mon Sep 17 00:00:00 2001
From: clubpenguin <amber.knights@thedropbears.org.au>
Date: Mon, 15 Jan 2024 13:37:08 +1100
Subject: [PATCH 4/6] removed motor speeds feedback method

---
 components/shooter.py | 7 +------
 1 file changed, 1 insertion(+), 6 deletions(-)

diff --git a/components/shooter.py b/components/shooter.py
index c51f932b..264a643e 100644
--- a/components/shooter.py
+++ b/components/shooter.py
@@ -1,4 +1,4 @@
-from magicbot import tunable, feedback
+from magicbot import tunable
 from rev import CANSparkMax
 from ids import SparkMaxIds, TalonIds
 import phoenix6
@@ -43,11 +43,6 @@ def inject(self):
     def is_ready(self):
         return True
 
-    @feedback
-    def motor_speeds(self) -> float:
-        # return the current speed of both flywheel and inject motors
-        return self.flywheel_speed, self.inject_speed
-
     def execute(self):
         """This gets called at the end of the control loop"""
         voltsge_request = VoltageOut(12.0 * self.flywheel_speed)

From af0948cf9ee9cfc361421d9f889fbaafe9e0330f Mon Sep 17 00:00:00 2001
From: clubpenguin <amber.knights@thedropbears.org.au>
Date: Mon, 15 Jan 2024 14:25:14 +1100
Subject: [PATCH 5/6] removed inject method and deployed variable

---
 components/shooter.py | 5 -----
 robot.py              | 2 +-
 2 files changed, 1 insertion(+), 6 deletions(-)

diff --git a/components/shooter.py b/components/shooter.py
index 264a643e..978014cc 100644
--- a/components/shooter.py
+++ b/components/shooter.py
@@ -15,7 +15,6 @@ class Shooter:
     inject_speed = tunable(0.0)
 
     def __init__(self):
-        self.deployed = False
         self.top_flywheel = phoenix6.hardware.TalonFX(TalonIds.top_flywheel)
         self.bottom_flywheel = phoenix6.hardware.TalonFX(TalonIds.bottom_flywheel)
         self.inject_flywheel = CANSparkMax(
@@ -34,10 +33,6 @@ def __init__(self):
         self.should_inject = False
 
     def shoot(self):
-        """causes shooter motors to spin"""
-        self.deployed = True
-
-    def inject(self):
         self.should_inject = True
 
     def is_ready(self):
diff --git a/robot.py b/robot.py
index 2a0b5012..e9fe622b 100644
--- a/robot.py
+++ b/robot.py
@@ -82,7 +82,7 @@ def teleopPeriodic(self) -> None:
 
         # injecting
         if self.gamepad.getBButton():
-            self.shooter.inject()
+            self.shooter.shoot()
 
     def testInit(self) -> None:
         pass

From 7b4b59e409ceb3178ccb3da10370b13e06e69db5 Mon Sep 17 00:00:00 2001
From: clubpenguin <amber.knights@thedropbears.org.au>
Date: Mon, 15 Jan 2024 14:29:19 +1100
Subject: [PATCH 6/6] renamed variable voltsge_request to flywheel_request

---
 components/shooter.py | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/components/shooter.py b/components/shooter.py
index 978014cc..9c95e7dd 100644
--- a/components/shooter.py
+++ b/components/shooter.py
@@ -40,12 +40,12 @@ def is_ready(self):
 
     def execute(self):
         """This gets called at the end of the control loop"""
-        voltsge_request = VoltageOut(12.0 * self.flywheel_speed)
+        flywheel_request = VoltageOut(12.0 * self.flywheel_speed)
         if self.should_inject:
             self.inject_flywheel.set(self.inject_speed)
         else:
             self.inject_flywheel.set(0.0)
 
-        self.top_flywheel.set_control(voltsge_request)
-        self.bottom_flywheel.set_control(voltsge_request)
+        self.top_flywheel.set_control(flywheel_request)
+        self.bottom_flywheel.set_control(flywheel_request)
         self.should_inject = False