musical krakens

Author: dabeycorn

.vscode/settings.json

@@ -56,5 +56,6 @@
     "edu.wpi.first.math.proto.*",
     "edu.wpi.first.math.**.proto.*",
     "edu.wpi.first.math.**.struct.*",
-  ]
+  ],
+  "java.compile.nullAnalysis.mode": "automatic"
 }

src/main/java/org/frc6423/frc2025/subsystems/swerve/module/ModuleIO.java

@@ -36,9 +36,13 @@ public class ModuleIOInputs {
   /** Update module hardware */
   public void periodic();
 
-  public void setPivotVolts(double volts, boolean focEnabled);
+  public default void setPivotVolts(double volts, boolean focEnabled) {
+    setPivotVolts(volts);
+  }
 
-  public void setDriveVolts(double volts, boolean focEnabled);
+  public default void setDriveVolts(double volts, boolean focEnabled) {
+    setDriveVolts(volts);
+  }
 
   /** Set Pivot motor voltage */
   public default void setPivotVolts(double volts) {

src/main/java/org/frc6423/frc2025/util/motorUtil/TalonFXUtil.java

@@ -0,0 +1,58 @@
+package org.frc6423.frc2025.util.motorUtil;
+
+import java.util.Arrays;
+import java.util.Random;
+
+import com.ctre.phoenix6.Orchestra;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+/** A class that's responsible for configuring all talons to do things */
+public class TalonFXUtil {
+    private static final Orchestra robotOrchestra = new Orchestra();
+    private static TalonFX[] globalTalonArray;
+   
+    /** Register Talon to global talon array */
+    public static void registerMotor(TalonFX talon) {
+        globalTalonArray[globalTalonArray.length] = talon;
+    }
+
+    /** Initalizes Talon orchestra */
+    public static void initOrchestra() {
+        Arrays.stream(globalTalonArray)
+            .forEach((t) -> robotOrchestra.addInstrument(t));
+    }
+
+    /** Plays song */
+    public static void playSong() {
+        robotOrchestra.play();
+    }
+
+    /** Pause song */
+    public static void pauseSong() {
+        robotOrchestra.pause();
+    }
+
+    /** Stop song */
+    public static void stopSong() {
+        robotOrchestra.stop();
+    }
+
+    /** Loads song of songID */
+    public static void loadSong(int songID) {
+        var status = robotOrchestra.loadMusic(robotSongArray[songID]);
+
+        if (!status.isOK()) {
+            System.out.println("SongID requested is out of bounds");
+        } 
+    }
+
+    /** Requests a random song from song array */
+    public static void playRandomSong() {
+        loadSong(new Random().nextInt(robotSongArray.length));
+    }
+
+    public static final String[] robotSongArray = new String[] {
+        "Test 1",
+        "Test 2"
+    };
+}