Merge remote-tracking branch 'origin/main' into offseason-base

src/main/java/frc/robot/constants/GripperConstants.java

@@ -9,4 +9,6 @@ public class GripperConstants {
             new CurrentLimitsConfigs().withStatorCurrentLimit(50);
 
     public static final String canbus = "CANivore";
+
+    public static final int gripperSensorChannel = 60;
 }

src/main/java/frc/robot/constants/IntakeConstants.java

@@ -16,4 +16,6 @@ public class IntakeConstants {
     public static final String canbusFlipper = "CANivore";
 
     public static final CurrentLimitsConfigs currentLimit = new CurrentLimitsConfigs();
+
+    public static final int intakeGPSensor = 99;
 }

src/main/java/frc/robot/subsystems/gripper/GripperIO.java

@@ -11,6 +11,7 @@ public class GripperIOInputs {
         public double voltage = 0;
         public double temperature = 0;
         public double current = 0;
+        public boolean sensor = false;
     }
 
     public void setVoltage(double voltage);

src/main/java/frc/robot/subsystems/gripper/GripperIOFalcon.java

@@ -3,11 +3,14 @@
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.wpilibj.DigitalInput;
 import frc.robot.constants.GripperConstants;
 
 public class GripperIOFalcon implements GripperIO {
     private final TalonFX armRoller = new TalonFX(GripperConstants.id, GripperConstants.canbus);
 
+    private DigitalInput gripperGPSensor = new DigitalInput(GripperConstants.gripperSensorChannel);
+
     public GripperIOFalcon() {
         armRoller.setPosition(0);
 
@@ -23,6 +26,7 @@ public void updateInputs(GripperIOInputs inputs) {
         inputs.voltage = armRoller.getMotorVoltage().getValueAsDouble();
         inputs.current = armRoller.getStatorCurrent().getValueAsDouble();
         inputs.temperature = armRoller.getDeviceTemp().getValueAsDouble();
+        inputs.sensor = gripperGPSensor.get();
     }
 
     public void setVoltage(double voltage) {

src/main/java/frc/robot/subsystems/gripper/GripperIOSim.java

@@ -1,12 +1,17 @@
 package frc.robot.subsystems.gripper;
 
+import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean;
+
 public class GripperIOSim implements GripperIO {
     public double voltage;
     public double speed;
+    public LoggedNetworkBoolean gripperGPSensor =
+            new LoggedNetworkBoolean("Gripper Sensor Sim", true);
 
     public void updateInputs(GripperIOInputs inputs) {
         inputs.voltage = voltage;
         inputs.speed = speed;
+        inputs.sensor = gripperGPSensor.get();
     }
 
     public void setVoltage(double voltage) {

src/main/java/frc/robot/subsystems/gripper/GripperSubsystem.java

@@ -57,4 +57,8 @@ public Command setVoltage(double voltage) {
                     piviotIO.setVoltage(voltage);
                 });
     }
+
+    public boolean hasPiece() {
+        return armrollerInputs.sensor;
+    }
 }

src/main/java/frc/robot/subsystems/intake/IntakeRollerIO.java

@@ -11,6 +11,7 @@ public class IntakeRollerIOInputs {
         public double voltage = 0;
         public double temperature = 0;
         public double current = 0;
+        public boolean sensor;
     }
 
     public void setVoltage(double voltage);

src/main/java/frc/robot/subsystems/intake/IntakeRollerIOSim.java

@@ -1,12 +1,18 @@
 package frc.robot.subsystems.intake;
 
+import org.littletonrobotics.junction.networktables.LoggedNetworkBoolean;
+
 public class IntakeRollerIOSim implements IntakeRollerIO {
     public double voltage;
     public double speed;
 
+    public LoggedNetworkBoolean intakeGPSensorBool =
+            new LoggedNetworkBoolean("Intake Sensor Sim", true);
+
     public void updateInputs(IntakeRollerIOInputs inputs) {
         inputs.voltage = voltage;
         inputs.speed = speed;
+        inputs.sensor = intakeGPSensorBool.get();
     }
 
     public void setVoltage(double voltage) {

src/main/java/frc/robot/subsystems/intake/IntakeRollerTalonFX.java

@@ -3,12 +3,15 @@
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import edu.wpi.first.wpilibj.DigitalInput;
 import frc.robot.constants.IntakeConstants;
 
 public class IntakeRollerTalonFX implements IntakeRollerIO {
     private final TalonFX intakeroller =
             new TalonFX(IntakeConstants.idRoller, IntakeConstants.canbusRoller);
 
+    private DigitalInput intakeGPSensor = new DigitalInput(IntakeConstants.intakeGPSensor);
+
     public IntakeRollerTalonFX() {
         intakeroller.setVoltage(0);
 
@@ -24,6 +27,7 @@ public void updateInputs(IntakeRollerIOInputs inputs) {
         inputs.voltage = intakeroller.getMotorVoltage().getValueAsDouble();
         inputs.temperature = intakeroller.getDeviceTemp().getValueAsDouble();
         inputs.current = intakeroller.getStatorCurrent().getValueAsDouble();
+        inputs.sensor = intakeGPSensor.get();
     }
 
     public void setVoltage(double voltage) {

src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java

@@ -90,4 +90,8 @@ public Command openAndEject() {
     public Command closeIntake() {
         return run(() -> flipperIO.setClose());
     }
+
+    public boolean hasPiece() {
+        return intakeInputs.sensor;
+    }
 }