amp bar layers

Author: Vignesh1234587

src/main/java/frc/robot/BuildConstants.java

@@ -5,12 +5,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2024RobotCode";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 313;
-  public static final String GIT_SHA = "974424bf6ad82162eaa1ac360b41f2aa0d05c04d";
-  public static final String GIT_DATE = "2024-07-27 20:08:15 EDT";
-  public static final String GIT_BRANCH = "rainbow-rumble";
-  public static final String BUILD_DATE = "2024-07-28 13:00:32 EDT";
-  public static final long BUILD_UNIX_TIME = 1722186032402L;
+  public static final int GIT_REVISION = 316;
+  public static final String GIT_SHA = "5cc22806712e7f8851e100516ff524db3c14f0e2";
+  public static final String GIT_DATE = "2024-08-03 20:37:50 EDT";
+  public static final String GIT_BRANCH = "rotation-lock";
+  public static final String BUILD_DATE = "2024-08-06 15:04:45 EDT";
+  public static final long BUILD_UNIX_TIME = 1722971085276L;
   public static final int DIRTY = 1;
 
   private BuildConstants() {}

src/main/java/frc/robot/subsystems/elevator/AmpBarIO.java

@@ -0,0 +1,28 @@
+package frc.robot.subsystems.elevator;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface AmpBarIO {
+
+  @AutoLog
+  public static class AmpBarIOInputs {
+
+    public double barVelocity = 0;
+    public double barPosition = 0;
+    public double currentAmps = 0;
+    public double appliedVolts = 0;
+    public double barPositionSetpoint = 0;
+  }
+
+  public default void updateInputs(AmpBarIOInputs inputs) {}
+
+  public default void setBrakeMode(boolean bool) {}
+
+  public default void setPositionSetpoint(double position, double ffVolts) {}
+
+  public default void setVoltage(double volts) {}
+
+  public default void stop() {}
+
+  public default void configurePID(double kP, double kI, double kD) {}
+}

src/main/java/frc/robot/subsystems/elevator/AmpBarIOSparkMAX.java

@@ -0,0 +1,72 @@
+package frc.robot.subsystems.elevator;
+
+import com.revrobotics.CANSparkBase.ControlType;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.SparkPIDController;
+import com.revrobotics.SparkPIDController.ArbFFUnits;
+
+public class AmpBarIOSparkMAX implements AmpBarIO {
+
+  private final CANSparkMax barMotor;
+  private final SparkPIDController pid;
+  private double barPositionSetpoint = 0;
+
+  public AmpBarIOSparkMAX(int motorID) {
+
+    barMotor = new CANSparkMax(motorID, CANSparkLowLevel.MotorType.kBrushless);
+
+    pid = barMotor.getPIDController();
+    pid.setFeedbackDevice(barMotor.getAbsoluteEncoder());
+
+    barMotor.restoreFactoryDefaults();
+    barMotor.setCANTimeout(250);
+    barMotor.burnFlash();
+    barMotor.clearFaults();
+  }
+
+  @Override
+  public void updateInputs(AmpBarIOInputs inputs) {
+    inputs.barVelocity = barMotor.getEncoder().getVelocity();
+    inputs.barPosition = barMotor.getEncoder().getPosition();
+    inputs.barPositionSetpoint = barPositionSetpoint;
+    inputs.currentAmps = barMotor.getOutputCurrent();
+    inputs.appliedVolts = barMotor.getAppliedOutput();
+  }
+
+  @Override
+  public void setBrakeMode(boolean bool) {
+
+    if (bool) {
+      barMotor.setIdleMode(IdleMode.kBrake);
+    } else {
+      barMotor.setIdleMode(IdleMode.kCoast);
+    }
+  }
+
+  @Override
+  public void setPositionSetpoint(double position, double ffVolts) {
+
+    this.barPositionSetpoint = position;
+    pid.setReference(position, ControlType.kPosition, 0, ffVolts, ArbFFUnits.kVoltage);
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    barMotor.setVoltage(volts);
+  }
+
+  @Override
+  public void stop() {
+    barMotor.stopMotor();
+  }
+
+  @Override
+  public void configurePID(double kP, double kI, double kD) {
+
+    pid.setP(kP);
+    pid.setI(kI);
+    pid.setD(kD);
+  }
+}