Michael | Intake Shooter Subsystem

.gitignore

@@ -181,5 +181,13 @@ logs/
 # Folder that has CTRE Phoenix Sim device config storage
 ctre_sim/
 
+<<<<<<< HEAD
+#Building stuff
+.gradle
+build
+
+node_modules/
+=======
 # gversion build constants.
-src/main/java/frc/robot/BuildConstants.java
+src/main/java/frc/robot/BuildConstants.java
+>>>>>>> main

.vscode/launch.json

@@ -18,4 +18,4 @@
       "desktop": false,
     }
   ]
-}
+}

package.json

@@ -0,0 +1,6 @@
+{
+  "devDependencies": {
+    "prettier": "3.3.3",
+    "prettier-plugin-java": "^2.6.4"
+  }
+}

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

@@ -32,13 +32,17 @@ public class RobotContainer {
 
     // Subsystems
 
+    private final OISubsystem oiPanel_ = new OISubsystem(OperatorConstants.kOperatorInterfacePort);
     private final SwerveSubsystem drivetrain_ = new SwerveSubsystem(CompSwerveConstants.DriveTrain); 
 
-    private final IntakeShooterSubsystem intake_shooter_ =
-        new IntakeShooterSubsystem(new IntakeShooterIOHardware());
+    private final IntakeShooterSubsystem intake_shooter_ = new IntakeShooterSubsystem(
+        new IntakeShooterIOHardware(),
+        oiPanel_.actionTypeSupplier(),
+        oiPanel_.shootTypeSupplier(),
+        () -> 0.0,
+        () -> true
+    );
 
-    private final OISubsystem oiPanel_ = new OISubsystem(OperatorConstants.kOperatorInterfacePort);
-
     /** The container for the robot. Contains subsystems, OI devices, and commands. */
     public RobotContainer() {
         // Configure the trigger bindings
@@ -57,13 +61,23 @@ public RobotContainer() {
     */
     private void configureBindings() {
         // Points all the swerve modules inward, resulting in restisting movement
-        gamepad_.a().whileTrue(drivetrain_.brake());
+        gamepad_.start().whileTrue(drivetrain_.brake());
 
         // Point all the swerve modules to where the joystick points.
         gamepad_.b().whileTrue(drivetrain_.pointModules(gamepad_::getLeftX, gamepad_::getLeftY)); 
 
         // reset the field-centric heading on Y and B press simultaneously
         gamepad_.y().and(gamepad_.b()).onTrue(drivetrain_.runOnce(() -> drivetrain_.seedFieldRelative()));
+
+        // Intake Shooter Binds
+        gamepad_.rightBumper().or(oiPanel_.collect()::getAsBoolean).whileTrue(intake_shooter_.intake());
+
+        gamepad_.a().onTrue(intake_shooter_.shoot());
+        oiPanel_.abort().onTrue(intake_shooter_.abort());
+        oiPanel_.turtle().onTrue(intake_shooter_.turtle());
+        oiPanel_.shoot().onTrue(intake_shooter_.shoot());
+        oiPanel_.eject().onTrue(intake_shooter_.eject());
+
     }
 
     private void setupDrivetrain() {
@@ -84,4 +98,4 @@ private void setupDrivetrain() {
     public Command getAutonomousCommand() {
         return Commands.print("No autonomous command configured");
     }
-}
+}

src/main/java/frc/robot/commands/Autos.java

@@ -6,11 +6,10 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
-import frc.robot.subsystems.IntakeShooter.IntakeShooterSubsystem;
 
 public final class Autos {
   /** Example static factory for an autonomous command. */
-  public static Command exampleAuto(IntakeShooterSubsystem subsystem) {
+  public static Command exampleAuto() {
     return Commands.sequence();
   }