Spindexer

src/main/java/frc/robot/BuildConstants.java

@@ -2,16 +2,15 @@
 
 /** Automatically generated file containing build version information. */
 public final class BuildConstants {
-
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "Rebuilt";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 3;
-  public static final String GIT_SHA = "c2ce782ddc4a2e3387dbdfd9c896ce84e806aabf";
-  public static final String GIT_DATE = "2026-01-20 14:12:18 EST";
-  public static final String GIT_BRANCH = "main";
-  public static final String BUILD_DATE = "2026-01-20 14:26:55 EST";
-  public static final long BUILD_UNIX_TIME = 1768937215602L;
+  public static final int GIT_REVISION = 18;
+  public static final String GIT_SHA = "a08c18aa3742a8182231092667a5c3ca832602aa";
+  public static final String GIT_DATE = "2026-01-22 13:45:30 EST";
+  public static final String GIT_BRANCH = "spindexer";
+  public static final String BUILD_DATE = "2026-01-30 12:59:27 EST";
+  public static final long BUILD_UNIX_TIME = 1769795967688L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/RobotContainer.java

@@ -15,6 +15,9 @@
 import frc.robot.constants.Constants;
 import frc.robot.constants.DriveConstants;
 import frc.robot.subsystems.drivetrain.CommandSwerveDrivetrain;
+import frc.robot.subsystems.spindexer.Spindexer;
+import frc.robot.subsystems.spindexer.SpindexerIOSim;
+import frc.robot.subsystems.spindexer.SpindexerIOTalonFX;
 import frc.robot.util.Telemetry;
 import frc.robot.util.TunerConstants;
 import org.ironmaple.simulation.SimulatedArena;
@@ -32,16 +35,19 @@ public class RobotContainer {
 
   // Subsystems
   public static CommandSwerveDrivetrain drivetrain;
+  public static Spindexer spindexer;
 
   public RobotContainer() {
 
     switch (Constants.currentMode) {
       case REAL:
+        spindexer = new Spindexer(new SpindexerIOTalonFX());
         drivetrain = TunerConstants.createDrivetrain();
 
         break;
 
       case SIM:
+        spindexer = new Spindexer(new SpindexerIOSim());
         drivetrain = TunerConstants.createDrivetrain();
         driveSimulation = drivetrain.mapleSimSwerveDrivetrain.mapleSimDrive;
 

src/main/java/frc/robot/constants/DriveConstants.java

@@ -15,22 +15,16 @@
 
 public class DriveConstants {
 
-	public static final Distance bumperWidth = Inches.of(0); // TODO: set
-
-	public static final LinearVelocity MAX_SPEED = TunerConstants.kSpeedAt12Volts; // TODO: set
-	public static final LinearAcceleration MAX_ACCELERATION = 
-		MetersPerSecondPerSecond.of(12); // TODO: set
+  public static final Distance bumperWidth = Inches.of(0); // TODO: set
 
-	public static final AngularVelocity MAX_ANGULAR_SPEED = 
-		RotationsPerSecond.of(4); // TODO: set
-  	public static final AngularAcceleration MAX_ANGULAR_ACCELERATION = 
-		RotationsPerSecondPerSecond.of(9); // TODO: set
+  public static final LinearVelocity MAX_SPEED = TunerConstants.kSpeedAt12Volts; // TODO: set
+  public static final LinearAcceleration MAX_ACCELERATION =
+      MetersPerSecondPerSecond.of(12); // TODO: set
 
-	public static final PathConstraints DEFAULT_CONSTRAINTS =
-		new PathConstraints(
-			MAX_SPEED, 
-			MAX_ACCELERATION, 
-			MAX_ANGULAR_SPEED, 
-			MAX_ANGULAR_ACCELERATION
-		);
+  public static final AngularVelocity MAX_ANGULAR_SPEED = RotationsPerSecond.of(4); // TODO: set
+  public static final AngularAcceleration MAX_ANGULAR_ACCELERATION =
+      RotationsPerSecondPerSecond.of(9); // TODO: set
+
+  public static final PathConstraints DEFAULT_CONSTRAINTS =
+      new PathConstraints(MAX_SPEED, MAX_ACCELERATION, MAX_ANGULAR_SPEED, MAX_ANGULAR_ACCELERATION);
 }

src/main/java/frc/robot/constants/SpindexerConstants.java

@@ -0,0 +1,13 @@
+package frc.robot.constants;
+
+import com.ctre.phoenix6.configs.Slot0Configs;
+
+public class SpindexerConstants {
+  public static final int CAN_ID = 0;
+  public static final Slot0Configs SLOT0_CONFIGS =
+      new Slot0Configs().withKP(0).withKI(0).withKD(0).withKS(0).withKV(0).withKA(0).withKG(0);
+
+  public static final double MOMENT_OF_INERTIA = 0;
+  public static final double GEARING = 1;
+  public static final double SPIN_VOLTAGE = 0.0;
+}

src/main/java/frc/robot/constants/TurretConstants.java

@@ -7,27 +7,29 @@
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.units.measure.AngularAcceleration;
 import edu.wpi.first.units.measure.AngularVelocity;
-import edu.wpi.first.units.measure.ImmutableAngularAcceleration;
-import edu.wpi.first.units.measure.ImmutableAngularVelocity;
 
 public class TurretConstants {
-    // TODO: IMPLEMENT
-    public static final int CAN_ID = -1;
-    public static final Angle MAX_ANGLE = Rotations.of(1);
-    public static final double GEAR_RATIO = 0; // how many rotations of the output shaft per rotation of the turret
-    public static final double MOMENT_OF_INERTIA = 0;
-    public static final double LENGTH = 0;
-    public static final double SIM_KP = 0;
-    public static final double SIM_KI = 0;
-    public static final double SIM_KD = 0;
-    public static final double TALON_KS = 0;
-    public static final double TALON_KV = 0;
-    public static final double TALON_KA = 0;
-    public static final double TALON_KP = 0;
-    public static final double TALON_KI = 0;
-    public static final double TALON_KD = 0;
-    public static final AngularVelocity TURRET_CRUISE_VELOCITY = RotationsPerSecond.of(4); // target cruise velocity of the turret, 4 rps
-    public static final AngularAcceleration TURRET_ACCELERATION = RotationsPerSecondPerSecond.of(16);// target acceleration of the turret, 16 rps^2
-    public static final double TURRET_JERK = 160; // target jerk of the turret, _160 rps^3 -> there's no AngularJerk sadly
-    public static final Angle ANGLE_TOLERANCE = Rotations.of(0.001);
+  // TODO: IMPLEMENT
+  public static final int CAN_ID = -1;
+  public static final Angle MAX_ANGLE = Rotations.of(1);
+  public static final double GEAR_RATIO =
+      0; // how many rotations of the output shaft per rotation of the turret
+  public static final double MOMENT_OF_INERTIA = 0;
+  public static final double LENGTH = 0;
+  public static final double SIM_KP = 0;
+  public static final double SIM_KI = 0;
+  public static final double SIM_KD = 0;
+  public static final double TALON_KS = 0;
+  public static final double TALON_KV = 0;
+  public static final double TALON_KA = 0;
+  public static final double TALON_KP = 0;
+  public static final double TALON_KI = 0;
+  public static final double TALON_KD = 0;
+  public static final AngularVelocity TURRET_CRUISE_VELOCITY =
+      RotationsPerSecond.of(4); // target cruise velocity of the turret, 4 rps
+  public static final AngularAcceleration TURRET_ACCELERATION =
+      RotationsPerSecondPerSecond.of(16); // target acceleration of the turret, 16 rps^2
+  public static final double TURRET_JERK =
+      160; // target jerk of the turret, _160 rps^3 -> there's no AngularJerk sadly
+  public static final Angle ANGLE_TOLERANCE = Rotations.of(0.001);
 }