Implement shooter subsystem (#1)

To be added in later pr:
- current or voltage limit
- driver bindings

build.gradle

@@ -106,6 +106,8 @@ tasks.withType(JavaCompile) {
 }
 
 spotless {
+    enforceCheck false
+
     java {
         target fileTree('.') {
             include '**/*.java'

src/main/java/frc/robot/Constants.java

@@ -0,0 +1,9 @@
+package frc.robot;
+
+public final class Constants {
+  public static final int driverport = 0;
+  public static final int shooterPort = 31;
+  public static final double shooterP = 0.02;
+  public static final double shooterI = 0.5;
+  public static final double shooterD = 0;
+}

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

@@ -1,17 +1,32 @@
 package frc.robot;
 
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkMaxLowLevel;
 import edu.wpi.first.wpilibj.TimedRobot;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import frc.robot.subsystems.Shooter;
 
 public class Robot extends TimedRobot {
   private Command m_autonomousCommand;
+  private CommandXboxController m_driver;
+  private Shooter m_shooter;
 
-  private RobotContainer m_robotContainer;
+  private Command getAutonomousCommand() {
+    return null;
+  }
 
-  @Override
-  public void robotInit() {
-    m_robotContainer = new RobotContainer();
+  private void configureBindings() {}
+
+  @SuppressWarnings("removal")
+  public Robot() {
+    m_driver = new CommandXboxController(Constants.driverport);
+    m_shooter =
+        new Shooter(
+            new CANSparkMax(Constants.shooterPort, CANSparkMaxLowLevel.MotorType.kBrushless));
+
+    configureBindings();
   }
 
   @Override
@@ -30,7 +45,7 @@ public void disabledExit() {}
 
   @Override
   public void autonomousInit() {
-    m_autonomousCommand = m_robotContainer.getAutonomousCommand();
+    m_autonomousCommand = getAutonomousCommand();
 
     if (m_autonomousCommand != null) {
       m_autonomousCommand.schedule();

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

@@ -0,0 +1,69 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
+import frc.robot.Constants;
+
+/** Our Crescendo shooter Subsystem */
+public class Shooter extends SubsystemBase {
+  private PIDController m_pid;
+  private CANSparkMax m_motor;
+  private RelativeEncoder m_encoder;
+
+  /**
+   * Creates a new {@link Shooter} {@link edu.wpi.first.wpilibj2.command.Subsystem}.
+   *
+   * @param motor The motor that the shooter controls.
+   */
+  public Shooter(CANSparkMax motor) {
+    m_motor = motor;
+    m_encoder = m_motor.getEncoder();
+    m_pid = new PIDController(Constants.shooterP, Constants.shooterI, Constants.shooterD);
+    m_pid.setTolerance(0.2, 0.5);
+  }
+
+  /** Acheives and maintains speed. */
+  private Command achieveSpeeds(double speed) {
+    return Commands.run(
+        () ->
+            m_motor.setVoltage(
+                m_pid.calculate(Units.rotationsToRadians(m_encoder.getVelocity()), speed)));
+  }
+
+  /**
+   * Speeds up the shooter until it hits the specified speed then stops.
+   *
+   * @param speed The desired speed in Radians per second.
+   * @return a {@link Command} to get to the desired speed.
+   */
+  public Command spinup(double speed) {
+    return achieveSpeeds(speed).until(m_pid::atSetpoint);
+  }
+
+  /**
+   * Holds the shooter at the current speed setpoint.
+   *
+   * @return A {@link Command} to hold the speed at the setpoint.
+   */
+  public Command maintain() {
+    return achieveSpeeds(m_pid.getSetpoint());
+  }
+
+  /**
+   * Checks if the Shooter is at its setpoint and the loop is stable.
+   *
+   * @return A {@link Trigger} from the result.
+   */
+  public Trigger atSetpoint() {
+    return new Trigger(
+        () ->
+            m_pid.getSetpoint() == Units.rotationsToRadians(m_encoder.getVelocity())
+                && m_pid.atSetpoint());
+  }
+}

vendordeps/REVLib.json

@@ -0,0 +1,74 @@
+{
+    "fileName": "REVLib.json",
+    "name": "REVLib",
+    "version": "2024.2.4",
+    "frcYear": "2024",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "mavenUrls": [
+        "https://maven.revrobotics.com/"
+    ],
+    "jsonUrl": "https://software-metadata.revrobotics.com/REVLib-2024.json",
+    "javaDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-java",
+            "version": "2024.2.4"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "skipInvalidPlatforms": true,
+            "isJar": false,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-cpp",
+            "version": "2024.2.4",
+            "libName": "REVLib",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        },
+        {
+            "groupId": "com.revrobotics.frc",
+            "artifactId": "REVLib-driver",
+            "version": "2024.2.4",
+            "libName": "REVLibDriver",
+            "headerClassifier": "headers",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxarm64",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxarm32",
+                "osxuniversal"
+            ]
+        }
+    ]
+}