From 447417967734eeb8a0a1a7e5a2a592f804b41957 Mon Sep 17 00:00:00 2001
From: Noah Dombrowski <dombrowskinoah@gmail.com>
Date: Mon, 29 Jan 2024 16:48:27 -0500
Subject: [PATCH] wip: begin arm subsystem

---
 .../frc/robot/subsystems/ArmSubsystem.java    | 63 +++++++++++++++++++
 1 file changed, 63 insertions(+)
 create mode 100644 src/main/java/frc/robot/subsystems/ArmSubsystem.java

diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
new file mode 100644
index 0000000..785d569
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java
@@ -0,0 +1,63 @@
+package frc.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.CANSparkBase;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class ArmSubsystem extends SubsystemBase {
+
+  // With eager singleton initialization, any static variables/fields used in the
+  // constructor must appear before the "INSTANCE" variable so that they are initialized
+  // before the constructor is called when the "INSTANCE" variable initializes.
+
+  private CANSparkMax leftMotor; // Lead motor
+  private CANSparkMax rightMotor; // Follow Motor
+
+  /**
+   * The Singleton instance of this ShooterSubsystem. Code should use the {@link #getInstance()}
+   * method to get the single instance (rather than trying to construct an instance of this class.)
+   */
+  private static final ArmSubsystem INSTANCE = new ArmSubsystem();
+
+  /**
+   * Returns the Singleton instance of this ShooterSubsystem. This static method should be used,
+   * rather than the constructor, to get the single instance of this class. For example: {@code
+   * ShooterSubsystem.getInstance();}
+   */
+  @SuppressWarnings("WeakerAccess")
+  public static ArmSubsystem getInstance() {
+    return INSTANCE;
+  }
+
+  // Raises the arm (the right arm is set to mirror the left arm)
+  public void raiseArm() {
+    leftMotor.set(0.5);
+  }
+
+  // Lowers the arm ()
+  public void lowerArm() {
+    leftMotor.set(-0.5);
+  }
+
+  /**
+   * Creates a new instance of this ShooterSubsystem. This constructor is private since this class
+   * is a Singleton. Code should use the {@link #getInstance()} method to get the singleton
+   * instance.
+   */
+  private ArmSubsystem() {
+    // TODO: Set the default command, if any, for this subsystem by calling
+    // setDefaultCommand(command)
+    //       in the constructor or in the robot coordination class, such as RobotContainer.
+    //       Also, you can call addChild(name, sendableChild) to associate sendables with the
+    // subsystem
+    //       such as SpeedControllers, Encoders, DigitalInputs, etc.
+    leftMotor = new CANSparkMax(0, MotorType.kBrushless);
+    rightMotor = new CANSparkMax(1, MotorType.kBrushless);
+
+    // The right motor will mirror the leader, but it will be inverted
+    rightMotor.follow(leftMotor, true);
+    
+  }
+}