open loop buttons

Author: ds12a

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

@@ -8,16 +8,23 @@
 import edu.wpi.first.wpilibj.XboxController;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.button.JoystickButton;
+import frc.robot.commands.algae.OpenLoopAlgaeCommand;
 import frc.robot.commands.drive.DriveTeleopCommand;
 import frc.robot.controllers.FlyskyJoystick;
+import frc.robot.subsystems.algae.AlgaeIOFX;
+import frc.robot.subsystems.algae.AlgaeSubsystem;
 import frc.robot.subsystems.drive.DriveSubsystem;
 import frc.robot.subsystems.drive.Swerve;
 import org.strykeforce.telemetry.TelemetryController;
 import org.strykeforce.telemetry.TelemetryService;
 
 public class RobotContainer {
-  private Swerve swerve;
   private DriveSubsystem driveSubsystem;
+  private AlgaeSubsystem algaeSubsystem;
+
+  private Swerve swerve;
+  private AlgaeIOFX algaeIO;
 
   private final XboxController xboxController = new XboxController(1);
   private final Joystick driveJoystick = new Joystick(0);
@@ -26,6 +33,9 @@ public class RobotContainer {
 
   public RobotContainer() {
     swerve = new Swerve();
+    algaeIO = new AlgaeIOFX();
+
+    algaeSubsystem = new AlgaeSubsystem(algaeIO);
     driveSubsystem = new DriveSubsystem(swerve);
 
     configureBindings();
@@ -40,6 +50,13 @@ private void configureDriverBindings() {
             () -> flysky.getFwd(), () -> flysky.getStr(), () -> flysky.getYaw(), driveSubsystem));
   }
 
+  private void configureOperatorBindings() {
+    new JoystickButton(xboxController, XboxController.Button.kLeftBumper.value)
+        .onTrue(new OpenLoopAlgaeCommand(algaeSubsystem, 0.5));
+    new JoystickButton(xboxController, XboxController.Button.kRightBumper.value)
+        .onTrue(new OpenLoopAlgaeCommand(algaeSubsystem, -0.5));
+  }
+
   public Command getAutonomousCommand() {
     return Commands.print("No autonomous command configured");
   }

src/main/java/frc/robot/commands/algae/OpenLoopAlgaeCommand.java

@@ -4,16 +4,16 @@
 import frc.robot.subsystems.algae.AlgaeSubsystem;
 
 public class OpenLoopAlgaeCommand extends InstantCommand {
-    private AlgaeSubsystem algaeSubsystem;
-    private double pct;
+  private AlgaeSubsystem algaeSubsystem;
+  private double pct;
 
-    public OpenLoopAlgaeCommand(AlgaeSubsystem algaeSubsystem, double pct) {
-        this.algaeSubsystem = algaeSubsystem;
-        this.pct = pct;
-    }
+  public OpenLoopAlgaeCommand(AlgaeSubsystem algaeSubsystem, double pct) {
+    this.algaeSubsystem = algaeSubsystem;
+    this.pct = pct;
+  }
 
-    @Override
-    public void initialize() {
-       algaeSubsystem.setPct(pct);
-    }
+  @Override
+  public void initialize() {
+    algaeSubsystem.setPct(pct);
+  }
 }

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

@@ -17,7 +17,6 @@
 import com.ctre.phoenix6.signals.ReverseLimitTypeValue;
 import edu.wpi.first.units.measure.AngularVelocity;
 
-
 public class AlgaeConstants {
   public static int kFxId = 30;
 

src/main/java/frc/robot/subsystems/algae/AlgaeSubsystem.java

@@ -5,7 +5,7 @@
 import edu.wpi.first.units.measure.AngularVelocity;
 import frc.robot.constants.AlgaeConstants;
 import frc.robot.standards.ClosedLoopSpeedSubsystem;
-import frc.robot.subsystems.algae.algaeIO.AlgaeIOInputs;
+import frc.robot.subsystems.algae.AlgaeIO.AlgaeIOInputs;
 import java.util.Set;
 import org.littletonrobotics.junction.Logger;
 import org.slf4j.LoggerFactory;
@@ -16,13 +16,13 @@
 public class AlgaeSubsystem extends MeasurableSubsystem implements ClosedLoopSpeedSubsystem {
   private org.slf4j.Logger logger = LoggerFactory.getLogger(AlgaeSubsystem.class);
 
-  private final algaeIO io;
+  private final AlgaeIO io;
   private final AlgaeIOInputs inputs = new AlgaeIOInputs();
   private AngularVelocity desiredSpeed;
 
   private AlgaeStates curState = AlgaeStates.IDLE;
 
-  public AlgaeSubsystem(algaeIO io) {
+  public AlgaeSubsystem(AlgaeIO io) {
     this.io = io;
   }
 

src/main/java/frc/robot/subsystems/algae/algaeIO.java

@@ -4,7 +4,7 @@
 import org.littletonrobotics.junction.AutoLog;
 import org.strykeforce.telemetry.TelemetryService;
 
-public interface algaeIO {
+public interface AlgaeIO {
   @AutoLog
   public static class AlgaeIOInputs {
     public AngularVelocity velocity;

src/main/java/frc/robot/subsystems/algae/algaeIOFX.java

@@ -13,7 +13,7 @@
 import org.slf4j.LoggerFactory;
 import org.strykeforce.telemetry.TelemetryService;
 
-public class algaeIOFX implements algaeIO {
+public class AlgaeIOFX implements AlgaeIO {
   private Logger logger;
   private TalonFX talonFX;
   private AlgaeIOInputs inputs;
@@ -25,12 +25,12 @@ public class algaeIOFX implements algaeIO {
   private VelocityVoltage speedRequest = new VelocityVoltage(0).withEnableFOC(false).withSlot(0);
   private DutyCycleOut dutyCycleRequest = new DutyCycleOut(0).withEnableFOC(false);
 
-  public algaeIOFX() {
+  public AlgaeIOFX() {
     logger = LoggerFactory.getLogger(this.getClass());
     talonFX = new TalonFX(AlgaeConstants.kFxId);
+    fwdLimitSwitch = talonFX.getForwardLimit();
     revLimitSwitch = talonFX.getReverseLimit();
     curVelocity = talonFX.getVelocity();
-    fwdLimitSwitch = talonFX.getForwardLimit();
   }
 
   @Override