From 759e6578c424a04672f6e8c88e763100ea79b728 Mon Sep 17 00:00:00 2001
From: minhnguyenbhs <minhnguyen@mcps.org>
Date: Wed, 2 Oct 2024 18:46:37 -0400
Subject: [PATCH] cleaning up

---
 src/main/java/frc/robot/BuildConstants.java   | 10 ++++-----
 .../subsystems/intake/IntakeNEOVortex.java    |  3 +--
 .../subsystems/scoring/ShooterIOTalonFX.java  | 21 ++++++++-----------
 3 files changed, 15 insertions(+), 19 deletions(-)

diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
index 75a6350..a97f6a4 100644
--- a/src/main/java/frc/robot/BuildConstants.java
+++ b/src/main/java/frc/robot/BuildConstants.java
@@ -5,12 +5,12 @@ public final class BuildConstants {
     public static final String MAVEN_GROUP = "";
     public static final String MAVEN_NAME = "high-key-2024-2";
     public static final String VERSION = "unspecified";
-    public static final int GIT_REVISION = 20;
-    public static final String GIT_SHA = "60857c99f27fe0d7e277b51b2878d3550123a1a8";
-    public static final String GIT_DATE = "2024-10-02 18:10:46 EDT";
+    public static final int GIT_REVISION = 21;
+    public static final String GIT_SHA = "6f294fbe0f63115f6c9e4f57d2a2ec855bb55efa";
+    public static final String GIT_DATE = "2024-10-02 18:42:46 EDT";
     public static final String GIT_BRANCH = "shooter-hardware";
-    public static final String BUILD_DATE = "2024-10-02 18:25:06 EDT";
-    public static final long BUILD_UNIX_TIME = 1727907906440L;
+    public static final String BUILD_DATE = "2024-10-02 18:45:16 EDT";
+    public static final long BUILD_UNIX_TIME = 1727909116112L;
     public static final int DIRTY = 1;
 
     private BuildConstants() {}
diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java b/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java
index 709dcc0..f219ec6 100644
--- a/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeNEOVortex.java
@@ -14,9 +14,8 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj.motorcontrol.Spark;
 import com.revrobotics.CANSparkFlex;
-import com.revrobotics.SparkLimitSwitch;
 import com.revrobotics.CANSparkLowLevel.MotorType;
-
+import com.revrobotics.SparkLimitSwitch;
 import frc.robot.constants.IntakeConstants;
 import frc.robot.constants.SensorConstants;
 import frc.robot.constants.IntakeConstants;
diff --git a/src/main/java/frc/robot/subsystems/scoring/ShooterIOTalonFX.java b/src/main/java/frc/robot/subsystems/scoring/ShooterIOTalonFX.java
index b739fbf..8d3b0ab 100644
--- a/src/main/java/frc/robot/subsystems/scoring/ShooterIOTalonFX.java
+++ b/src/main/java/frc/robot/subsystems/scoring/ShooterIOTalonFX.java
@@ -6,19 +6,21 @@
 import com.ctre.phoenix6.controls.VelocityDutyCycle;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.revrobotics.CANSparkFlex;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.SparkLimitSwitch;
 import frc.robot.constants.ConversionConstants;
 import frc.robot.constants.ScoringConstants;
 
 public class ShooterIOTalonFX implements ShooterIO {
-    private final TalonFX kicker = new TalonFX(ScoringConstants.kickerMotorId);
+    private final CANSparkFlex kicker =
+            new CANSparkFlex(ScoringConstants.kickerMotorId, MotorType.kBrushless);
 
     private final TalonFX shooterLeft = new TalonFX(ScoringConstants.shooterLeftMotorId);
     private final TalonFX shooterRight = new TalonFX(ScoringConstants.shooterRightMotorId);
 
     private final Slot0Configs slot0 = new Slot0Configs();
 
-    /// DigitalInput bannerSensor = new DigitalInput(SensorConstants.indexerSensorPort);
-
     private boolean override = false;
     private double overrideVolts = 0.0;
 
@@ -48,12 +50,6 @@ public ShooterIOTalonFX() {
                         .withStatorCurrentLimit(ScoringConstants.shooterCurrentLimit)
                         .withStatorCurrentLimitEnable(true));
 
-        TalonFXConfigurator kickerConfig = kicker.getConfigurator();
-        kickerConfig.apply(
-                new CurrentLimitsConfigs()
-                        .withStatorCurrentLimit(ScoringConstants.kickerCurrentLimit)
-                        .withStatorCurrentLimitEnable(true));
-
         slot0.withKP(ScoringConstants.shooterkP);
         slot0.withKI(ScoringConstants.shooterkI);
         slot0.withKD(ScoringConstants.shooterkD);
@@ -124,10 +120,11 @@ public void updateInputs(ShooterInputs inputs) {
         inputs.shooterRightStatorCurrentAmps = shooterRight.getStatorCurrent().getValueAsDouble();
         inputs.shooterRightSupplyCurrentAmps = shooterRight.getSupplyCurrent().getValueAsDouble();
 
-        inputs.kickerAppliedVolts = kicker.getMotorVoltage().getValueAsDouble();
-        inputs.kickerStatorCurrentAmps = kicker.getStatorCurrent().getValueAsDouble();
+        inputs.kickerAppliedVolts = kicker.getBusVoltage();
+        inputs.kickerStatorCurrentAmps = kicker.getOutputCurrent();
 
-        inputs.bannerSensor = true; // !bannerSensor.get();
+        inputs.bannerSensor =
+                kicker.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen).isPressed();
     }
 
     @Override