Added encoder inputs to vortex

Frc5572 · Jan 27, 2024 · 05c723b · 05c723b
1 parent cf73db4
commit 05c723b
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/src/main/java/frc/robot/subsystems/shooter/ShooterVortex.java b/src/main/java/frc/robot/subsystems/shooter/ShooterVortex.java
@@ -2,13 +2,21 @@
 
 import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.revrobotics.RelativeEncoder;
 import frc.robot.Constants;
 
 public class ShooterVortex implements ShooterIO {
     public final CANSparkFlex shooterTopMotor =
         new CANSparkFlex(Constants.Shooter.shooterTopId, MotorType.kBrushless);
     public final CANSparkFlex shooterBottomMotor =
         new CANSparkFlex(Constants.Shooter.shooterBottomId, MotorType.kBrushless);
+    private RelativeEncoder topEncoder;
+    private RelativeEncoder bottomEncoder;
+
+    public ShooterVortex() {
+        topEncoder = shooterTopMotor.getEncoder();
+        bottomEncoder = shooterBottomMotor.getEncoder();
+    }
 
     public void setTopMotor(double power) {
         shooterTopMotor.setVoltage(power);
@@ -17,4 +25,9 @@ public void setTopMotor(double power) {
     public void setBottomMotor(double power) {
         shooterBottomMotor.setVoltage(power);
     }
+
+    public void updateInputs(ShooterIOInputs inputs) {
+        inputs.topshooterVelocityRotPerSecond = topEncoder.getPosition();
+        inputs.bottomshooterVelocityRotPerSecond = bottomEncoder.getPosition();
+    }
 }