add launcher

src/main/java/com/stuypulse/robot/commands/launcher/LauncherHoldSpeed.java

@@ -0,0 +1,25 @@
+package com.stuypulse.robot.commands.launcher;
+
+import com.stuypulse.robot.subsystems.launcher.Launcher;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class LauncherHoldSpeed extends Command {
+
+    private final Launcher launcher;
+    private final Number launcherSpeed;
+
+    public LauncherHoldSpeed(Number launcherSpeed) {
+        launcher = Launcher.getInstance();
+        this.launcherSpeed = launcherSpeed;
+
+        addRequirements(launcher);
+    }
+
+    @Override
+    public void execute() {
+        launcher.setFeederSpeed(0);
+        launcher.setLaunchSpeed(launcherSpeed);
+    }
+
+}

src/main/java/com/stuypulse/robot/commands/launcher/LauncherIntakeNote.java

@@ -0,0 +1,19 @@
+package com.stuypulse.robot.commands.launcher;
+
+import com.stuypulse.robot.subsystems.launcher.Launcher;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class LauncherIntakeNote extends Command {
+    Launcher launcher;
+
+    public LauncherIntakeNote() {
+        launcher = Launcher.getInstance();
+        addRequirements(launcher);
+    }
+
+    @Override
+    public void execute() {
+        launcher.intake();
+    } 
+}

src/main/java/com/stuypulse/robot/commands/launcher/LauncherLaunch.java

@@ -0,0 +1,25 @@
+package com.stuypulse.robot.commands.launcher;
+
+import com.stuypulse.robot.subsystems.launcher.Launcher;
+
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class LauncherLaunch extends Command {
+
+    private final Launcher launcher;
+    private final Number feederSpeed;
+    private final Number launcherSpeed;
+
+    public LauncherLaunch(Number feederSpeed, Number launcherSpeed) {
+        this.launcherSpeed = launcherSpeed;
+        this.feederSpeed = feederSpeed;
+
+        launcher = Launcher.getInstance();
+        addRequirements(launcher);
+    }
+
+    @Override
+    public void initialize() {
+        launcher.launch(feederSpeed, launcherSpeed);
+    }
+}

src/main/java/com/stuypulse/robot/commands/launcher/LauncherStop.java

@@ -0,0 +1,20 @@
+package com.stuypulse.robot.commands.launcher;
+
+import com.stuypulse.robot.subsystems.launcher.Launcher;
+
+import edu.wpi.first.wpilibj2.command.InstantCommand;
+
+public class LauncherStop extends InstantCommand{
+    Launcher launcher;
+
+    public LauncherStop() {
+        launcher = Launcher.getInstance();
+        addRequirements(launcher);
+    }
+
+    @Override
+    public void initialize() {
+        launcher.stop();
+    }
+
+}

src/main/java/com/stuypulse/robot/subsystems/launcher/Launcher.java

@@ -0,0 +1,86 @@
+package com.stuypulse.robot.subsystems.launcher;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.stuypulse.robot.constants.Settings;
+import com.stuypulse.robot.constants.Motors;
+import com.stuypulse.robot.constants.Ports;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class Launcher extends SubsystemBase {
+
+    private static final Launcher instance;
+
+    static {
+        instance = new Launcher();
+    }
+
+    public static Launcher getInstance() {
+        return instance;
+    }
+
+    private final CANSparkMax feeder;
+    private final CANSparkMax launcher;
+
+    public Launcher() {
+        feeder = new CANSparkMax(20, MotorType.kBrushless); 
+        launcher = new CANSparkMax(21, MotorType.kBrushless);
+
+        Motors.Shooter.LEFT_SHOOTER.configure(feeder);
+        Motors.Shooter.LEFT_SHOOTER.configure(launcher);
+
+    }
+
+    //********** SETTERS **********
+    public void setLaunchSpeed(Number speed) {
+        launcher.set(speed.doubleValue());
+    }
+
+    public void setFeederSpeed(Number speed) {
+        feeder.set(speed.doubleValue());
+    }
+
+    public void stop() {
+        setLaunchSpeed(0);
+        setFeederSpeed(0);
+    }
+
+    public void intake() {
+        launcher.set(-.8);
+        feeder.set(0);
+    }
+
+    public void launch(Number feederSpeed, Number launcherSpeed) {
+        launcher.set(launcherSpeed.doubleValue());
+        feeder.set(feederSpeed.doubleValue());
+    }
+
+    //********** GETTERS **********//
+    public double getLauncherVelocity() {
+        return launcher.getEncoder().getVelocity();
+    }
+
+    public double getFeederVelocity() {
+        return feeder.getEncoder().getVelocity();
+    }
+
+    public double getLauncherSpeed() {
+        return launcher.getAppliedOutput();
+    }
+
+    public double getFeederSpeed() {
+        return feeder.getAppliedOutput();
+    }
+
+    @Override 
+    public void periodic() {
+        SmartDashboard.putNumber("Launcher/Launcher Velocity", getLauncherVelocity());
+        SmartDashboard.putNumber("Launcher/Feeder Velocity", getFeederVelocity());
+
+        SmartDashboard.putNumber("Launcher/Launcher Output Speed", getLauncherSpeed());
+        SmartDashboard.putNumber("Launcher/Feeder Output Speed", getFeederSpeed());
+
+    }
+}