Made tests for everyhting excpet swerrve :3

Co-authored-by: naveed1117 <[email protected]>
Co-authored-by: Lapcas <[email protected]>

src/main/java/com/stuypulse/robot/constants/Motors.java

@@ -23,13 +23,42 @@
 public interface Motors {
 
     /** Classes to store all of the values a motor needs */
+    public interface Amper {
+        CANSparkMaxConfig LIFT_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake);
+        CANSparkMaxConfig SCORE_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake);
+    }
+
+    public interface Swerve {
+        public CANSparkMaxConfig DRIVE_CONFIG = new CANSparkMaxConfig(false, IdleMode.kBrake);
+        public CANSparkMaxConfig TURN_CONFIG = new CANSparkMaxConfig(false, IdleMode.kBrake);
+    }
+
+    public interface Intake {
+        CANSparkMaxConfig MOTOR_CONFIG = new CANSparkMaxConfig(false, IdleMode.kBrake);
+    }
+
+    public interface Shooter {
+        CANSparkMaxConfig LEFT_SHOOTER = new CANSparkMaxConfig(false,IdleMode.kCoast);
+        CANSparkMaxConfig RIGHT_SHOOTER = new CANSparkMaxConfig(false,IdleMode.kCoast);      
+    }
+
+    public interface Conveyor {
+        CANSparkMaxConfig GANDALF_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake);
+        CANSparkMaxConfig SHOOTER_FEEDER_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake);
+    }
 
+    public interface Climber {
+        CANSparkMaxConfig LEFT_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake);
+        CANSparkMaxConfig RIGHT_MOTOR = new CANSparkMaxConfig(false, IdleMode.kBrake);
+    }
     public static class TalonSRXConfig {
         public final boolean INVERTED;
         public final NeutralMode NEUTRAL_MODE;
         public final int PEAK_CURRENT_LIMIT_AMPS;
         public final double OPEN_LOOP_RAMP_RATE;
 
+
+
         public TalonSRXConfig(
                 boolean inverted,
                 NeutralMode neutralMode,

src/main/java/com/stuypulse/robot/constants/Ports.java

@@ -12,4 +12,66 @@ public interface Gamepad {
         int OPERATOR = 1;
         int DEBUGGER = 2;
     }
-}
+
+    public interface Climber {
+        int LEFT_MOTOR = 60;
+        int RIGHT_MOTOR = 61;
+
+        int TOP_RIGHT_LIMIT = 8;
+        int TOP_LEFT_LIMIT = 7;
+        int BOTTOM_RIGHT_LIMIT = 6;
+        int BOTTOM_LEFT_LIMIT = 5;        
+    }
+
+    public interface Amper {
+        int SCORE = 31;
+        int LIFT = 30;
+
+        int ALIGNED_BUMP_SWITCH = 3;
+        int LIFT_BOTTOM_LIMIT = 4;
+        int AMP_IR = 2;
+    }
+
+    public interface Swerve {
+        public interface FrontRight {
+            int DRIVE = 10;
+            int TURN = 11;
+            int ENCODER = 1;
+        }
+
+        public interface FrontLeft {
+            int DRIVE = 12;
+            int TURN = 13;
+            int ENCODER = 2;
+        }
+
+        public interface BackLeft{
+            int DRIVE = 14;
+            int TURN = 15;
+            int ENCODER = 3;
+        }
+
+        public interface BackRight {
+            int DRIVE = 16;
+            int TURN = 17;
+            int ENCODER = 4;
+        }
+    }
+
+    public interface Intake {
+        int MOTOR = 40;
+        int IR_SENSOR = 1;
+    }
+
+    public interface Shooter {
+        int LEFT_MOTOR = 20; 
+        int RIGHT_MOTOR = 21;
+    }
+
+    public interface Conveyor {
+        int GANDALF = 50;
+        int FEEDER = 51;
+
+        int IR_SENSOR = 0;
+    }
+}

src/main/java/com/stuypulse/robot/subsystems/AmperTest.java

@@ -0,0 +1,32 @@
+package com.stuypulse.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.stuypulse.robot.constants.Ports;
+
+
+public class AmperTest {
+    private final CANSparkMax scoreMotor;
+    private final CANSparkMax liftMotor;
+    private final RelativeEncoder liftEncoder;
+
+    public AmperTest(){
+        scoreMotor = new CANSparkMax(Ports.Amper.SCORE, MotorType.kBrushless);
+        liftMotor = new CANSparkMax(Ports.Amper.LIFT, MotorType.kBrushless);
+        liftEncoder = liftMotor.getEncoder();
+    }
+
+    public void setAmperVoltage(double voltage){
+        scoreMotor.set(voltage);
+    }
+
+    public void setLiftVoltage(double voltage){
+        liftMotor.set(voltage);
+    }
+
+    public void stop(){
+        scoreMotor.set(0);
+        liftMotor.set(0);
+    }
+}

src/main/java/com/stuypulse/robot/subsystems/ClimberTest.java

@@ -0,0 +1,35 @@
+package com.stuypulse.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.stuypulse.robot.constants.Ports;
+
+public class ClimberTest{
+    private final CANSparkMax leftMotor;
+    private final CANSparkMax rightMotor;
+    private final RelativeEncoder rightEncoder;
+    private final RelativeEncoder leftEncoder;
+
+    public ClimberTest(){
+        leftMotor = new CANSparkMax(Ports.Climber.LEFT_MOTOR, MotorType.kBrushless);
+        rightMotor = new CANSparkMax(Ports.Climber.RIGHT_MOTOR, MotorType.kBrushless);
+
+        rightEncoder = rightMotor.getEncoder();
+        leftEncoder = leftMotor.getEncoder();
+    }
+    public void setLeftVoltage(double voltage){
+        leftMotor.set(voltage);
+    }
+    public void setRightVoltage(double voltage){
+        rightMotor.set(voltage);    
+    }
+
+    public void stop() {
+        leftMotor.set(0);
+        rightMotor.set(0);
+    }
+
+}
+
+

src/main/java/com/stuypulse/robot/subsystems/ConveyerTest.java

@@ -0,0 +1,35 @@
+package com.stuypulse.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.stuypulse.robot.constants.Ports;
+
+public class ConveyerTest {
+    private final CANSparkMax gandalfMotor;
+    private final CANSparkMax shooterFeederMotor;
+    private final RelativeEncoder gandalfEncoder;
+    private final RelativeEncoder shooterFeederEncoder;
+
+    public ConveyerTest(){
+        gandalfMotor = new CANSparkMax(Ports.Conveyor.GANDALF, MotorType.kBrushless);
+        shooterFeederMotor = new CANSparkMax(Ports.Conveyor.FEEDER, MotorType.kBrushless);
+
+        gandalfEncoder = gandalfMotor.getEncoder();
+        shooterFeederEncoder = shooterFeederMotor.getEncoder();
+    }
+
+    public void setGandalfVoltage(double voltage){
+        gandalfMotor.set(voltage);
+    }
+
+    public void setShooterFeederVoltage(double voltage){
+        shooterFeederMotor.set(voltage);
+    }
+
+    public void stop(){
+        gandalfMotor.set(0);
+        shooterFeederMotor.set(0);
+    }
+
+}

src/main/java/com/stuypulse/robot/subsystems/IntakeTest.java

@@ -0,0 +1,21 @@
+package com.stuypulse.robot.subsystems;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+import com.stuypulse.robot.constants.Ports;
+
+public class IntakeTest {
+    private final CANSparkMax motor;
+
+    public IntakeTest() {
+        motor = new CANSparkMax(Ports.Intake.MOTOR, MotorType.kBrushless);
+    }
+    public void setIntakeVoltage(double voltage) {
+        motor.set(voltage);
+    }
+
+    public void stop() {
+        motor.set(0);
+    }
+
+}

src/main/java/com/stuypulse/robot/subsystems/ShooterTest.java

@@ -0,0 +1,32 @@
+package com.stuypulse.robot.subsystems;
+
+import com.stuypulse.robot.constants.Ports;
+import com.stuypulse.stuylib.network.SmartNumber;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+public class ShooterTest {
+    private final CANSparkMax leftMotor;
+    private final CANSparkMax rightMotor;
+
+    private final RelativeEncoder leftEncoder;
+    private final RelativeEncoder rightEncoder;
+    public ShooterTest() {
+        leftMotor = new CANSparkMax(Ports.Shooter.LEFT_MOTOR, MotorType.kBrushless);
+        rightMotor = new CANSparkMax(Ports.Shooter.RIGHT_MOTOR, MotorType.kBrushless);
+    }
+
+    public void setRightVoltage(double voltage) {
+        rightMotor.set(voltage);
+    }
+
+    public void setLeftVoltage(double voltage) {
+        leftMotor.set(voltage);
+    }
+
+    public void stop() {
+        leftMotor.set(0);
+        rightMotor.set(0);
+    }
+}

src/main/java/com/stuypulse/robot/subsystems/SwerveTest.java

@@ -0,0 +1,5 @@
+package com.stuypulse.robot.subsystems;
+
+public class SwerveTest {
+//TODO modules then uh absolute encoders to test zero angles then ummmmmmm set voltage ^w^
+}