Feeder skeleton

src/main/cpp/RobotContainer.cpp

@@ -107,6 +107,10 @@ IntakeSubsystem &RobotContainer::GetIntakeSubsystem() {
   return intakeSubsystem;
 }
 
+FeederSubsystem &RobotContainer::GetFeederSubsystem() {
+  return feederSubsystem;
+}
+
 str::Vision &RobotContainer::GetVision() { return vision; }
 
 str::NoteVisualizer &RobotContainer::GetNoteVisualizer() {

src/main/cpp/subsystems/FeederSubsystem.cpp

@@ -0,0 +1,16 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#include "subsystems/FeederSubsystem.h"
+#include <frc/smartdashboard/SmartDashboard.h>
+
+FeederSubsystem::FeederSubsystem() {
+    SetName("FeederSubsystem");
+    //ConfigureFeederMotor(consts::intake::physical::INVERT_MOTOR, consts::intake::physical::INTAKE_RATIO, consts::intake::current_limits::SUPPLY_CURRENT_LIMIT, consts::intake::current_limits::STATOR_CURRENT_LIMIT);
+    //ConfigureMotorSignals();
+    frc::SmartDashboard::PutData(this);
+}
+
+// This method will be called once per scheduler run
+void FeederSubsystem::Periodic() {}

src/main/deploy/commit.txt

@@ -1 +1 @@
-30cedb8
+57f4807

src/main/include/Autos.h

@@ -12,11 +12,12 @@
 #include <subsystems/ShooterSubsystem.h>
 #include <subsystems/SwerveSubsystem.h>
 #include <subsystems/IntakeSubsystem.h>
+#include <subsystems/FeederSubsystem.h>
 
 class Autos {
 public:
-  explicit Autos(SwerveSubsystem &swerveSub, ShooterSubsystem &shooterSub, IntakeSubsystem &intakeSub)
-      : swerveSub(swerveSub), shooterSub(shooterSub), intakeSub(intakeSub) {
+  explicit Autos(SwerveSubsystem &swerveSub, ShooterSubsystem &shooterSub, IntakeSubsystem &intakeSub, FeederSubsystem &feederSub)
+      : swerveSub(swerveSub), shooterSub(shooterSub), intakeSub(intakeSub), feederSub(feederSub) {
     pathplanner::NamedCommands::registerCommand(
         "Shoot", frc2::cmd::Print("Shooting Note"));
 
@@ -54,6 +55,7 @@ class Autos {
   SwerveSubsystem &swerveSub;
   ShooterSubsystem &shooterSub;
   IntakeSubsystem &intakeSub;
+  FeederSubsystem &feederSub;
 
   frc2::CommandPtr selectCommand{frc2::cmd::None()};
 };

src/main/include/RobotContainer.h

@@ -11,6 +11,7 @@
 #include "str/NoteVisualizer.h"
 #include "str/Vision.h"
 #include "subsystems/SwerveSubsystem.h"
+#include "subsystems/FeederSubsystem.h"
 
 class RobotContainer {
 public:
@@ -21,6 +22,7 @@ class RobotContainer {
   SwerveSubsystem &GetSwerveSubsystem();
   ShooterSubsystem &GetShooterSubsystem();
   IntakeSubsystem &GetIntakeSubsystem();
+  FeederSubsystem &GetFeederSubsystem();
   str::Vision &GetVision();
   str::NoteVisualizer &GetNoteVisualizer();
 
@@ -31,8 +33,9 @@ class RobotContainer {
   SwerveSubsystem swerveSubsystem;
   ShooterSubsystem shooterSubsystem;
   IntakeSubsystem intakeSubsystem;
+  FeederSubsystem feederSubsystem;
   str::Vision vision;
   str::NoteVisualizer noteVisualizer;
 
-  Autos autos{swerveSubsystem, shooterSubsystem, intakeSubsystem};
+  Autos autos{swerveSubsystem, shooterSubsystem, intakeSubsystem, feederSubsystem};
 };

src/main/include/constants/FeederConstants.h

@@ -0,0 +1,46 @@
+// Copyright (c) FRC 2053.
+// Open Source Software; you can modify and/or share it under the terms of
+// the MIT License file in the root of this project
+
+#pragma once
+
+#include <frc/system/plant/DCMotor.h>
+#include <units/base.h>
+#include <units/velocity.h>
+#include <wpi/interpolating_map.h>
+#include <units/dimensionless.h>
+#include <units/moment_of_inertia.h>
+
+#include "str/Gains.h"
+
+namespace consts {
+namespace feeder {
+namespace can_ids {
+inline constexpr int FEEDER = 18;
+} // namespace can_ids
+
+namespace current_limits {
+inline constexpr units::ampere_t SUPPLY_CURRENT_LIMIT = 60_A;
+inline constexpr units::ampere_t STATOR_CURRENT_LIMIT = 180_A;
+} // namespace current_limits
+
+namespace physical {
+
+inline constexpr bool INVERT_MOTOR = false;
+
+inline constexpr units::scalar_t INTAKE_RATIO = (24.0 / 16.0);
+
+inline constexpr frc::DCMotor INTAKE_MOTOR = frc::DCMotor::Falcon500(1);
+
+inline constexpr units::meter_t WHEEL_RADIUS = 1_in;
+
+//From onshape doc
+inline constexpr units::kilogram_square_meter_t INTAKE_MOI = 12.350445 * 1_in * 1_in * 1_lb;
+} // namespace physical
+
+namespace gains {
+inline constexpr units::volt_t NOTE_FEED_VOLTAGE = 10_V;
+inline constexpr units::volt_t NOTE_EJECT_VOLTAGE = -5_V;
+}
+} // namespace intake
+} // namespace consts

src/main/include/subsystems/FeederSubsystem.h

@@ -0,0 +1,22 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+#pragma once
+
+#include <frc2/command/SubsystemBase.h>
+#include <ctre/phoenix6/TalonFX.hpp>
+#include <constants/FeederConstants.h>
+
+class FeederSubsystem : public frc2::SubsystemBase {
+ public:
+  FeederSubsystem();
+
+  /**
+   * Will be called periodically whenever the CommandScheduler runs.
+   */
+  void Periodic() override;
+
+ private:
+  ctre::phoenix6::hardware::TalonFX feederMotor{consts::feeder::can_ids::FEEDER, "*"};
+};