Added feeder to indexer

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

@@ -81,7 +81,10 @@ private void configureSubsystems() {
       m_indexer =
           new Indexer(
               new IndexerIOFalcon(
-                  Ports.kKicker, Ports.kIndexerBeamBreakOne, Ports.kIndexerBeamBreakTwo));
+                  Ports.kKicker,
+                  Ports.kFeeder,
+                  Ports.kIndexerBeamBreakOne,
+                  Ports.kIndexerBeamBreakTwo));
     } else {
       m_drive =
           new Drive(
@@ -106,6 +109,7 @@ private void configureSubsystems() {
   }
 
   private void configureControllers() {
+    // usually use ps5 on actual robot but xbox is better for keyboard testing
     if (RobotBase.isReal()) {
       m_driverControls = new DriverControlsPS5(1);
     } else {
@@ -137,9 +141,14 @@ private void configureButtonBindings() {
                 }));
 
     m_driverControls
-        .testIndexer()
-        .onTrue(m_indexer.runIndexer(6.0))
-        .onFalse(m_indexer.runIndexer(0.0));
+        .testKicker()
+        .onTrue(m_indexer.runKicker(6.0))
+        .onFalse(m_indexer.runKicker(0.0));
+
+    m_driverControls
+        .testFeeder()
+        .onTrue(m_indexer.runFeeder(6.0))
+        .onFalse(m_indexer.runFeeder(0.0));
   }
 
   public void updateRobotState() {

src/main/java/frc/robot/RobotState.java

@@ -85,15 +85,15 @@ public static RobotState getInstance() {
   public void updateMechanism() {
     m_shooterPivotMechLower.setAngle(m_shooter.getPivotAngle().getDegrees() + 180);
     m_shooterPivotMechUpper.setAngle(m_shooter.getPivotAngle().getDegrees());
+
+    Logger.recordOutput("Mechanism", m_mechanism);
   }
 
   public void updateComponents() {
     Pose3d shooterPose =
         new Pose3d(
             kShooterZeroTranslation, new Rotation3d(0, -m_shooter.getPivotAngle().getRadians(), 0));
 
-    Logger.recordOutput("Mechanism", m_mechanism);
-
     Logger.recordOutput("Components/ShooterPose", shooterPose);
     Logger.recordOutput("Components/ZeroPose", new Pose3d()); // for tuning config
   }

src/main/java/frc/robot/oi/DriverControls.java

@@ -11,5 +11,7 @@ public interface DriverControls {
 
   public Trigger testShooter();
 
-  public Trigger testIndexer();
+  public Trigger testKicker();
+
+  public Trigger testFeeder();
 }

src/main/java/frc/robot/oi/DriverControlsPS5.java

@@ -31,7 +31,12 @@ public Trigger testShooter() {
   }
 
   @Override
-  public Trigger testIndexer() {
-    return m_controller.R2();
+  public Trigger testKicker() {
+    return m_controller.R1();
+  }
+
+  @Override
+  public Trigger testFeeder() {
+    return m_controller.L1();
   }
 }

src/main/java/frc/robot/oi/DriverControlsXbox.java

@@ -31,7 +31,12 @@ public Trigger testShooter() {
   }
 
   @Override
-  public Trigger testIndexer() {
+  public Trigger testKicker() {
     return m_controller.button(2);
   }
+
+  @Override
+  public Trigger testFeeder() {
+    return m_controller.button(3);
+  }
 }

src/main/java/frc/robot/subsystems/indexer/Indexer.java

@@ -21,7 +21,11 @@ public void periodic() {
     Logger.processInputs("Indexer", m_inputs);
   }
 
-  public Command runIndexer(double voltage) {
-    return Commands.runOnce(() -> m_io.setVoltage(voltage));
+  public Command runKicker(double voltage) {
+    return Commands.runOnce(() -> m_io.setKickerVoltage(voltage));
+  }
+
+  public Command runFeeder(double voltage) {
+    return Commands.runOnce(() -> m_io.setFeederVoltage(voltage));
   }
 }

src/main/java/frc/robot/subsystems/indexer/IndexerIO.java

@@ -6,12 +6,17 @@
 public interface IndexerIO extends LoggedIO<IndexerIO.IndexerInputs> {
   @AutoLog
   public static class IndexerInputs {
-    public double curVelocity;
-    public double curVoltage;
-    public double curAmps;
+    public double curKickerVelocity;
+    public double curKickerVoltage;
+    public double curKickerAmps;
+    public double curFeederVelocity;
+    public double curFeederVoltage;
+    public double curFeederAmps;
     public boolean beamBreakOneBroken;
     public boolean beamBreakTwoBroken;
   }
 
-  public void setVoltage(double voltage);
+  public void setKickerVoltage(double voltage);
+
+  public void setFeederVoltage(double voltage);
 }

src/main/java/frc/robot/subsystems/indexer/IndexerIOFalcon.java

@@ -7,37 +7,63 @@
 import edu.wpi.first.wpilibj.DigitalInput;
 
 public class IndexerIOFalcon implements IndexerIO {
-  private TalonFX m_indexerMotor;
+  private TalonFX m_kickerMotor;
+  private TalonFX m_feederMotor;
   private DigitalInput m_beamBreakOne;
   private DigitalInput m_beamBreakTwo;
 
-  private StatusSignal<Double> m_curVelocity;
-  private StatusSignal<Double> m_curVoltage;
-  private StatusSignal<Double> m_curAmps;
+  private StatusSignal<Double> m_curKickerVelocity;
+  private StatusSignal<Double> m_curKickerVoltage;
+  private StatusSignal<Double> m_curKickerAmps;
+  private StatusSignal<Double> m_curFeederVelocity;
+  private StatusSignal<Double> m_curFeederVoltage;
+  private StatusSignal<Double> m_curFeederAmps;
 
-  public IndexerIOFalcon(int motorPort, int beamBreakOnePort, int beamBreakTwoPort) {
-    m_indexerMotor = new TalonFX(motorPort);
+  public IndexerIOFalcon(
+      int kickerPort, int feederPort, int beamBreakOnePort, int beamBreakTwoPort) {
+    m_kickerMotor = new TalonFX(kickerPort);
+    m_feederMotor = new TalonFX(feederPort);
     m_beamBreakOne = new DigitalInput(beamBreakOnePort);
     m_beamBreakTwo = new DigitalInput(beamBreakTwoPort);
 
-    m_curVelocity = m_indexerMotor.getVelocity();
-    m_curVoltage = m_indexerMotor.getMotorVoltage();
-    m_curAmps = m_indexerMotor.getSupplyCurrent();
+    m_curKickerVelocity = m_kickerMotor.getVelocity();
+    m_curKickerVoltage = m_kickerMotor.getMotorVoltage();
+    m_curKickerAmps = m_kickerMotor.getSupplyCurrent();
+
+    m_curFeederVelocity = m_feederMotor.getVelocity();
+    m_curFeederVoltage = m_feederMotor.getMotorVoltage();
+    m_curFeederAmps = m_feederMotor.getSupplyCurrent();
   }
 
   @Override
   public void updateInputs(IndexerInputs inputs) {
-    BaseStatusSignal.refreshAll(m_curVelocity, m_curVoltage, m_curAmps);
+    BaseStatusSignal.refreshAll(
+        m_curKickerVelocity,
+        m_curKickerVoltage,
+        m_curKickerAmps,
+        m_curFeederVelocity,
+        m_curFeederVoltage,
+        m_curFeederAmps);
+
+    inputs.curKickerVelocity = Units.rotationsToRadians(m_curKickerVelocity.getValue());
+    inputs.curKickerVoltage = m_curKickerVoltage.getValue();
+    inputs.curKickerAmps = m_curKickerAmps.getValue();
+
+    inputs.curFeederVelocity = Units.rotationsToRadians(m_curFeederVelocity.getValue());
+    inputs.curFeederVoltage = m_curFeederVoltage.getValue();
+    inputs.curFeederAmps = m_curFeederAmps.getValue();
 
-    inputs.curVelocity = Units.rotationsToRadians(m_curVelocity.getValue());
-    inputs.curVoltage = m_curVoltage.getValue();
-    inputs.curAmps = m_curAmps.getValue();
     inputs.beamBreakOneBroken = m_beamBreakOne.get();
     inputs.beamBreakTwoBroken = m_beamBreakTwo.get();
   }
 
   @Override
-  public void setVoltage(double voltage) {
-    m_indexerMotor.setVoltage(voltage);
+  public void setKickerVoltage(double voltage) {
+    m_kickerMotor.setVoltage(voltage);
+  }
+
+  @Override
+  public void setFeederVoltage(double voltage) {
+    m_feederMotor.setVoltage(voltage);
   }
 }

src/main/java/frc/robot/subsystems/indexer/IndexerIOSim.java

@@ -6,34 +6,52 @@
 import frc.robot.Constants.Ports;
 
 public class IndexerIOSim implements IndexerIO {
-  private DCMotorSim m_motorSim;
-  private double m_curVoltage;
+  private DCMotorSim m_kickerSim;
+  private DCMotorSim m_feederSim;
+  private double m_curKickerVoltage;
+  private double m_curFeederVoltage;
   private DIOSim m_beamBreakOne;
   private DIOSim m_beamBreakTwo;
 
   public IndexerIOSim() {
     double simGearing = 1.0;
-    double simJkGMetersSquared = 1.0;
-    m_motorSim = new DCMotorSim(DCMotor.getFalcon500(1), simGearing, simJkGMetersSquared);
+    double simJkGMetersSquared = 0.01;
+    m_kickerSim = new DCMotorSim(DCMotor.getFalcon500(1), simGearing, simJkGMetersSquared);
+    m_feederSim = new DCMotorSim(DCMotor.getFalcon500(1), simGearing, simJkGMetersSquared);
 
     m_beamBreakOne = new DIOSim(Ports.kIndexerBeamBreakOne);
     m_beamBreakTwo = new DIOSim(Ports.kIndexerBeamBreakTwo);
+
+    m_curKickerVoltage = 0.0;
+    m_curFeederVoltage = 0.0;
   }
 
   @Override
   public void updateInputs(IndexerInputs inputs) {
-    m_motorSim.update(0.02);
+    m_kickerSim.update(0.02);
+    m_feederSim.update(0.02);
+
+    inputs.curKickerVoltage = m_curKickerVoltage;
+    inputs.curKickerVelocity = m_kickerSim.getAngularVelocityRadPerSec();
+    inputs.curKickerAmps = m_kickerSim.getCurrentDrawAmps();
+
+    inputs.curFeederVoltage = m_curFeederVoltage;
+    inputs.curFeederVelocity = m_feederSim.getAngularVelocityRadPerSec();
+    inputs.curFeederAmps = m_feederSim.getCurrentDrawAmps();
 
-    inputs.curVoltage = m_curVoltage;
-    inputs.curVelocity = m_motorSim.getAngularVelocityRadPerSec();
-    inputs.curAmps = m_motorSim.getCurrentDrawAmps();
     inputs.beamBreakOneBroken = m_beamBreakOne.getValue();
     inputs.beamBreakTwoBroken = m_beamBreakTwo.getValue();
   }
 
   @Override
-  public void setVoltage(double voltage) {
-    m_motorSim.setInputVoltage(voltage);
-    m_curVoltage = voltage;
+  public void setKickerVoltage(double voltage) {
+    m_kickerSim.setInputVoltage(voltage);
+    m_curKickerVoltage = voltage;
+  }
+
+  @Override
+  public void setFeederVoltage(double voltage) {
+    m_feederSim.setInputVoltage(voltage);
+    m_curFeederVoltage = voltage;
   }
 }