coralScorer works with ls. ls added to coralscorerspark

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

@@ -39,7 +39,10 @@
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants.AprilTagConstants.AprilTagLayoutType;
 import frc.robot.Constants.OperatorConstants;
+import frc.robot.commands.CoralScorerCommand;
 import frc.robot.commands.DriveCommands;
+import frc.robot.subsystems.CoralScorer.CoralScorer;
+import frc.robot.subsystems.CoralScorer.CoralScorerIOSpark;
 import frc.robot.subsystems.accelerometer.Accelerometer;
 import frc.robot.subsystems.drive.Drive;
 import frc.robot.subsystems.flywheel_example.Flywheel;
@@ -74,6 +77,8 @@ public class RobotContainer {
   private final Drive m_drivebase;
 
   private final Flywheel m_flywheel;
+
+  private final CoralScorer m_CoralScorer = new CoralScorer(new CoralScorerIOSpark());
   // These are "Virtual Subsystems" that report information but have no motors
   private final Accelerometer m_accel;
   private final Vision m_vision;
@@ -243,6 +248,19 @@ private void configureBindings() {
                         () -> turnStickX.value()),
                 m_drivebase));
 
+    m_CoralScorer.setDefaultCommand(
+        Commands.run(
+            () ->
+                m_CoralScorer.runVolts(
+                    driverController.getRightTriggerAxis() - driverController.getLeftTriggerAxis()),
+            m_CoralScorer));
+    driverController
+        .x()
+        .whileTrue(
+            new CoralScorerCommand(
+                m_CoralScorer,
+                driverController.getRightTriggerAxis() - driverController.getLeftTriggerAxis()));
+
     // Press A button -> BRAKE
     driverController
         .a()

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

@@ -0,0 +1,30 @@
+package frc.robot.commands;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import frc.robot.subsystems.CoralScorer.CoralScorer;
+
+public class CoralScorerCommand extends Command {
+
+  private final CoralScorer haberdashery;
+
+  private final double volts;
+
+  public CoralScorerCommand(CoralScorer haberdashery, double volts) {
+    this.haberdashery = haberdashery;
+    this.volts = volts;
+    addRequirements(haberdashery);
+  }
+
+  @Override
+  public void initialize() {}
+
+  @Override
+  public void execute() {
+    haberdashery.runVoltsWithLS(volts);
+  }
+
+  @Override
+  public void end(boolean interupted) {
+    haberdashery.stop();
+  }
+}

src/main/java/frc/robot/subsystems/CoralScorer/CoralScorer.java

@@ -1,5 +1,29 @@
 package frc.robot.subsystems.CoralScorer;
 
-public class CoralScorer {
-
+import frc.robot.util.RBSISubsystem;
+
+public class CoralScorer extends RBSISubsystem {
+
+  private final CoralScorerIO io;
+
+  public CoralScorer(CoralScorerIO io) {
+    this.io = io;
+  }
+
+  /** Stop in open loop. */
+  public void stop() {
+    io.stop();
+  }
+
+  public void runVolts(double volts) {
+    io.setVolts(3 * volts);
+  }
+
+  public void runVoltsWithLS(double volts) {
+    if (io.getLightStop() == false) {
+      io.setVolts(3 * volts);
+    } else {
+      io.setVolts(-1.5 + (3 * volts));
+    }
+  }
 }

src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerIO.java

@@ -14,35 +14,21 @@
 // GNU General Public License for more details.
 package frc.robot.subsystems.CoralScorer;
 
+import java.util.function.BooleanSupplier;
 import org.littletonrobotics.junction.AutoLog;
 
 public interface CoralScorerIO {
 
-  // IMPORTANT: Include here all devices that are part of this mechanism!
-  public final int[] powerPorts = {};
-
   @AutoLog
-  public static class CoralScorerIOInputs {
-    public double positionRad = 0.0;
-    public double velocityRadPerSec = 0.0;
-    public double appliedVolts = 0.0;
-    public double[] currentAmps = new double[] {};
-  }
+  public static class IntakeIOInputs {}
 
-  /** Updates the set of loggable inputs. */
-  public default void updateInputs(CoralScorerIOInputs inputs) {}
+  public default void lightStop(BooleanSupplier lightStop) {}
 
-  /** Run open loop at the specified voltage. */
-  public default void setVoltage(double volts) {}
+  public default void setVolts(double volts) {}
 
-  /** Run closed loop at the specified velocity. */
-  public default void setVelocity(double velocityRadPerSec, double ffVolts) {}
+  public default boolean getLightStop() {
+    return false;
+  }
 
-  /** Stop in open loop. */
   public default void stop() {}
-
-  public default void moveXInches(double inches) {}
-
-  /** Set velocity PID constants. */
-  public default void configurePID(double kP, double kI, double kD) {}
 }

src/main/java/frc/robot/subsystems/CoralScorer/CoralScorerIOSpark.java

@@ -1,25 +1,35 @@
 package frc.robot.subsystems.CoralScorer;
 
-import com.revrobotics.spark.SparkMax;
-import com.revrobotics.spark.SparkBase;
-import com.revrobotics.spark.SparkClosedLoopController;
 import com.revrobotics.spark.SparkLowLevel.MotorType;
-import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.SparkMax;
+import edu.wpi.first.wpilibj.DigitalInput;
+import java.util.function.BooleanSupplier;
 
 public class CoralScorerIOSpark implements CoralScorerIO {
-private SparkMax motor = new SparkMax(0, MotorType.kBrushless);
-private SparkMaxConfig config = new SparkMaxConfig();
-private SparkClosedLoopController m_pidController;
 
-public CoralScorerIOSpark() {
-  config.encoder.positionConversionFactor(1000);
-  config.
-}
-@Override 
-public void moveXInches(double inches) {
-motor.configure(config, null, null);
-motor.getEncoder().getPosition();
-m_pidController.setReference(inches, SparkBase.ControlType.kSmartMotion);
-}
-
+  public CoralScorerIOSpark() {}
+
+  private final SparkMax coralMotor = new SparkMax(16, MotorType.kBrushless);
+
+  private final DigitalInput lightStop = new DigitalInput(1);
+
+  @Override
+  public void setVolts(double volts) {
+    coralMotor.setVoltage(volts);
+  }
+
+  @Override
+  public void lightStop(BooleanSupplier lightStop) {
+    if (lightStop.getAsBoolean()) {}
+  }
+
+  @Override
+  public boolean getLightStop() {
+    return lightStop.get();
+  }
+
+  @Override
+  public void stop() {
+    coralMotor.stopMotor();
+  }
 }

src/main/java/frc/robot/subsystems/CoralScorer/CoralSocrerIOTalonFX.java

@@ -1,5 +1,3 @@
 package frc.robot.subsystems.CoralScorer;
 
-public class CoralSocrerIOTalonFX {
-
-}
+public class CoralSocrerIOTalonFX {}