edited constants

grt192 · Feb 2, 2024 · c9638d3 · c9638d3
1 parent efa1de8
commit c9638d3
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Showing 4 changed files with 17 additions and 6 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -90,8 +90,15 @@ public static class IntakeConstants {
     public static final double pastsensortime = 0.5;
   }
 
+  public static class ShooterConstants {
+    public static final int LIMIT_SWITCH_ID = 1;
+    public static final int PIVOT_MOTOR_ID = 12;
 
+    public static final int SHOOTER_MOTOR_ONE_ID = 13;
+    public static final int SHOOTER_MOTOR_TWO_ID = 14;
 
+    public static final int FEEDER_MOTOR_ID = 10;
+  }
 
   public static class ClimbConstants {
     public static final int LEFT_WINCH_MOTOR_ID = 8;

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterFeederSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterFeederSubsystem.java
@@ -3,7 +3,7 @@
 import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
 import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.revrobotics.ColorSensorV3;
-
+import static frc.robot.Constants.ShooterConstants.*;
 import edu.wpi.first.wpilibj.I2C;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
@@ -22,8 +22,7 @@ public class ShooterFeederSubsystem extends SubsystemBase{
 
     public ShooterFeederSubsystem(){
         //motors
-        feederMotor = new TalonSRX(15);
-
+        feederMotor = new TalonSRX(FEEDER_MOTOR_ID);
         feederMotor.setInverted(true);
 
         //sensors

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterFlywheelSubsystem.java
@@ -4,6 +4,7 @@
 //create enums, expecting, holding, firing, and no note
 
 package frc.robot.subsystems.shooter;
+import static frc.robot.Constants.ShooterConstants.*;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
@@ -13,6 +14,8 @@ public class ShooterFlywheelSubsystem extends SubsystemBase {
 
     //change later (ALL OF THEM ARE PLACEHOLDERS)
     int IDNUMBER = 10; //so I remember to change them later
+    // public static final int SHOOTER_MOTOR_ONE_ID = 13;
+    // public static final int SHOOTER_MOTOR_TWO_ID = 14;
     public final double SHOOTER_MOTOR_SPEED = 1;
 
     //motors
@@ -26,8 +29,8 @@ public class ShooterFlywheelSubsystem extends SubsystemBase {
 
     public ShooterFlywheelSubsystem(){
         //motors
-        shooterMotor = new CANSparkMax(13, MotorType.kBrushless);
-        shooterMotorTwo = new CANSparkMax(14, MotorType.kBrushless);
+        shooterMotor = new CANSparkMax(SHOOTER_MOTOR_ONE_ID, MotorType.kBrushless);
+        shooterMotorTwo = new CANSparkMax(SHOOTER_MOTOR_TWO_ID, MotorType.kBrushless);
 
         shooterMotor.setIdleMode(IdleMode.kCoast);
         shooterMotorTwo.setIdleMode(IdleMode.kCoast);

diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java b/src/main/java/frc/robot/subsystems/shooter/ShooterPivotSubsystem.java
@@ -9,6 +9,8 @@
 import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import static frc.robot.Constants.ShooterConstants.*;
+
 
 public class ShooterPivotSubsystem extends SubsystemBase {
 
@@ -49,7 +51,7 @@ public class ShooterPivotSubsystem extends SubsystemBase {
     public ShooterPivotSubsystem(boolean alliance){
 
         //motors
-        pivotMotor = new CANSparkMax(12, MotorType.kBrushless); 
+        pivotMotor = new CANSparkMax(PIVOT_MOTOR_ID, MotorType.kBrushless); 
         pivotMotor.setInverted(true);
 
         //devices