Robot shooter

build.gradle

@@ -1,6 +1,6 @@
 plugins {
 	id "java"
-	id "edu.wpi.first.GradleRIO" version "2024.1.1"
+	id "edu.wpi.first.GradleRIO" version "2024.3.2"
 	id "com.diffplug.spotless" version "6.24.0"
 }
 

simgui.json

@@ -1,12 +1,37 @@
 {
+  "HALProvider": {
+    "Timing": {
+      "window": {
+        "visible": false
+      }
+    }
+  },
   "NTProvider": {
     "types": {
       "/FMSInfo": "FMSInfo",
       "/SmartDashboard/VisionSystemSim-/Sim Field": "Field2d"
     }
   },
   "NetworkTables": {
+    "Retained Values": {
+      "open": false
+    },
     "transitory": {
+      "AdvantageKit": {
+        "DriverStation": {
+          "Joystick0": {
+            "open": true
+          },
+          "Joystick1": {
+            "open": true
+          },
+          "Joystick5": {
+            "open": true
+          },
+          "open": true
+        },
+        "open": true
+      },
       "CameraPublisher": {
         "open": true
       },
@@ -19,6 +44,64 @@
     }
   },
   "NetworkTables Info": {
+    "Server": {
+      "Publishers": {
+        "open": true
+      },
+      "Subscribers": {
+        "open": true
+      }
+    },
     "visible": true
+  },
+  "NetworkTables View": {
+    "visible": false
+  },
+  "Plot": {
+    "Plot <0>": {
+      "plots": [
+        {
+          "backgroundColor": [
+            0.0,
+            0.0,
+            0.0,
+            0.8500000238418579
+          ],
+          "height": 151,
+          "series": [
+            {
+              "color": [
+                0.2980392277240753,
+                0.44705885648727417,
+                0.6901960968971252,
+                1.0
+              ],
+              "id": "NT:/AdvantageKit/DriverStation/Joystick0/ButtonCount"
+            },
+            {
+              "color": [
+                0.8666667342185974,
+                0.5176470875740051,
+                0.32156863808631897,
+                1.0
+              ],
+              "id": "NT:/AdvantageKit/Timestamp"
+            }
+          ]
+        },
+        {
+          "backgroundColor": [
+            0.0,
+            0.0,
+            0.0,
+            0.8500000238418579
+          ],
+          "height": 151
+        }
+      ],
+      "window": {
+        "visible": false
+      }
+    }
   }
 }

src/main/java/frc/robot/Robot.java

@@ -4,6 +4,10 @@
 
 package frc.robot;
 
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.geometry.Rotation2d;
+import edu.wpi.first.math.geometry.Transform2d;
+import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
 import org.littletonrobotics.junction.LogFileUtil;
@@ -24,6 +28,11 @@ public class Robot extends LoggedRobot {
 
     private RobotContainer robotContainer;
 
+    Pose2d pose2d = new Pose2d(0.0, 0.0, new Rotation2d(0.0, 0.0));
+    Transform2d transform2d =
+            new Transform2d(new Translation2d(0.02, 0.0), new Rotation2d(0.0, 0.0));
+    int count = 0;
+
     /**
      * This function is run when the robot is first started up and should be used for any
      * initialization code.
@@ -52,6 +61,8 @@ public void robotInit() {
         }
 
         Logger.start();
+        Logger.recordOutput("randomTesting", new Pose2d(0.0, 0.0, new Rotation2d(0.0, 0.0)));
+
         robotContainer = new RobotContainer();
     }
 
@@ -68,7 +79,14 @@ public void robotPeriodic() {
         // commands, running already-scheduled commands, removing finished or interrupted commands,
         // and running subsystem periodic() methods.  This must be called from the robot's periodic
         // block in order for anything in the Command-based framework to work.
+
         CommandScheduler.getInstance().run();
+        Logger.recordOutput("randomCount", pose2d);
+        Transform2d modifier = transform2d.times(Math.sin(count / 100.0));
+        pose2d = pose2d.transformBy(modifier);
+        Logger.recordOutput("joystickExpected", Math.sin(count / 100.0));
+
+        count++;
     }
 
     /** This function is called once each time the robot enters Disabled mode. */

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

@@ -10,6 +10,8 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.Constants.OperatorConstants;
+import frc.robot.subsystems.shooter_intake.ShooterIntakeIO;
+import frc.robot.subsystems.shooter_intake.ShooterIntakeSubsystem;
 import java.util.function.DoubleSupplier;
 import java.util.function.Supplier;
 
@@ -19,6 +21,17 @@ public class RobotContainer {
     private DoubleSupplier rightDistanceSupplier;
     private Supplier<Rotation2d> gyroSupplier;
     private Supplier<Pose2d> simulatedPoseSupplier;
+    private ShooterIntakeSubsystem intakeSubsystem =
+            new ShooterIntakeSubsystem(
+                    new ShooterIntakeIO() {
+
+                        @Override
+                        public void setVoltage(double volts) {
+                            // TODO Auto-generated method stub
+                            throw new UnsupportedOperationException(
+                                    "Unimplemented method 'setVoltage'");
+                        }
+                    });
 
     private final CommandXboxController driverController =
             new CommandXboxController(OperatorConstants.kDriverControllerPort);

src/main/java/frc/robot/subsystems/shooter_intake/ShooterIntakeIO.java

@@ -0,0 +1,10 @@
+package frc.robot.subsystems.shooter_intake;
+
+public interface ShooterIntakeIO {
+
+    public static class ShooterIntakeIOInputs {
+        public double intakeVoltage = 0.0;
+    }
+
+    public void setVoltage(double volts);
+}

src/main/java/frc/robot/subsystems/shooter_intake/ShooterIntakeSubsystem.java

@@ -0,0 +1,78 @@
+package frc.robot.subsystems.shooter_intake;
+
+public class ShooterIntakeSubsystem {
+
+    protected State currentState = State.IDLE;
+    protected State targetState = State.IDLE;
+    ShooterIntakeIO io;
+
+    public ShooterIntakeSubsystem(ShooterIntakeIO io) {
+        this.io = io;
+        State.subsystem = this;
+    }
+
+    public void periodic() {
+
+        currentState.periodic();
+    }
+
+    public void setTargetState(State target) {
+        this.targetState = target;
+    }
+
+    // spotless:off
+    public enum State {
+        IDLE {
+
+            @Override
+            void changeStates() {
+                this.changeState(subsystem.targetState);
+            }
+
+            @Override
+            void onStart() {
+                subsystem.io.setVoltage(0);
+            }
+        },
+
+        INTAKING {
+            @Override
+            void periodic() {
+                super.periodic();
+                subsystem.io.setVoltage(-1);
+            }
+        },
+
+        SHOOTING {
+            @Override
+            void periodic() {
+                super.periodic();
+                subsystem.io.setVoltage(1);
+            }
+        };
+
+        static ShooterIntakeSubsystem subsystem;
+
+        void periodic() {
+            this.changeStates();
+        }
+
+        void changeStates() {
+            if (this != subsystem.targetState) {
+                this.changeState(IDLE);
+            }
+        }
+
+        void onStart() {};
+
+        void onEnd() {};
+
+        protected void changeState(State newState){
+            this.onEnd();
+            subsystem.currentState = newState;
+            newState.onStart();
+        }
+    }
+    // spotless:on
+
+}

vendordeps/AdvantageKit.json

@@ -1,7 +1,7 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "3.0.0",
+    "version": "3.2.1",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
     "frcYear": "2024",
     "mavenUrls": [],
@@ -10,24 +10,24 @@
         {
             "groupId": "org.littletonrobotics.akit.junction",
             "artifactId": "wpilib-shim",
-            "version": "3.0.0"
+            "version": "3.2.1"
         },
         {
             "groupId": "org.littletonrobotics.akit.junction",
             "artifactId": "junction-core",
-            "version": "3.0.0"
+            "version": "3.2.1"
         },
         {
             "groupId": "org.littletonrobotics.akit.conduit",
             "artifactId": "conduit-api",
-            "version": "3.0.0"
+            "version": "3.2.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit.conduit",
             "artifactId": "conduit-wpilibio",
-            "version": "3.0.0",
+            "version": "3.2.1",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [