basic Shooter Subsystem Setup

src/main/java/org/jmhsrobotics/frc2024/Constants.java

@@ -13,6 +13,8 @@ public class Constants {
 	 */
 	public static class CAN {
 		public static final int kIntakeId = 32;
+		public static final int kShooterTopId = 33;
+		public static final int kShooterBottomId = 34;
 
 	};
 	/**

src/main/java/org/jmhsrobotics/frc2024/RobotContainer.java

@@ -10,6 +10,8 @@
 import org.jmhsrobotics.frc2024.subsystems.LED.commands.RainbowLEDCommand;
 import org.jmhsrobotics.frc2024.subsystems.drive.DriveSubsystem;
 import org.jmhsrobotics.frc2024.subsystems.drive.commands.DriveCommand;
+import org.jmhsrobotics.frc2024.subsystems.shooter.ShooterSubsystem;
+import org.jmhsrobotics.frc2024.subsystems.shooter.commands.ShooterCommand;
 import org.jmhsrobotics.frc2024.subsystems.drive.commands.LockAprilTag;
 import org.jmhsrobotics.frc2024.subsystems.intake.IntakeSubsystem;
 import org.jmhsrobotics.frc2024.subsystems.vision.VisionSubsystem;
@@ -38,6 +40,7 @@ public class RobotContainer implements Logged {
 
 	private final VisionSubsystem visionSubsystem = new VisionSubsystem(this.driveSubsystem);
 
+	private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem();
 	private final LEDSubsystem ledSubsystem = new LEDSubsystem();
 	private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem();
 
@@ -55,6 +58,8 @@ public RobotContainer() {
 		configurePathPlanner();
 		autoChooser = AutoBuilder.buildAutoChooser();
 		SmartDashboard.putData("Auto Chooser", autoChooser);
+		ShooterCommand shooterCommand = new ShooterCommand(2000, shooterSubsystem);
+		SmartDashboard.putData("Shooter Command", shooterCommand);
 	}
 
 	private void configurePathPlanner() {

src/main/java/org/jmhsrobotics/frc2024/controlBoard/CompControl.java

@@ -9,6 +9,9 @@ public class CompControl implements ControlBoard {
 
 	// TODO: Implement operator controls in the future
 	// =============Operator Controls=============
+	public double shooterInput() {
+		return this.operator.getRightTriggerAxis();
+	}
 
 	// =============Driver Controls=============
 	@Override

src/main/java/org/jmhsrobotics/frc2024/controlBoard/ControlBoard.java

@@ -4,17 +4,19 @@
 
 public interface ControlBoard {
 
-    // =============Operator Controls=============
+	// =============Operator Controls=============
 
-    // =============Driver Controls=============
-    public Trigger brake();
+	public double shooterInput();
 
-    public Trigger setZeroHeading();
+	// =============Driver Controls=============
+	public Trigger brake();
 
-    public double xInput();
+	public Trigger setZeroHeading();
 
-    public double yInput();
+	public double xInput();
 
-    public double rotationalInput();
+	public double yInput();
+
+	public double rotationalInput();
 
 }

src/main/java/org/jmhsrobotics/frc2024/subsystems/shooter/ShooterSubsystem.java

@@ -0,0 +1,76 @@
+package org.jmhsrobotics.frc2024.subsystems.shooter;
+
+import org.jmhsrobotics.frc2024.Constants;
+import org.jmhsrobotics.warcore.rev.RevEncoderSimWrapper;
+
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.RelativeEncoder;
+import com.revrobotics.CANSparkBase.IdleMode;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.RobotBase;
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public class ShooterSubsystem extends SubsystemBase {
+	private CANSparkMax topFlywheel = new CANSparkMax(Constants.CAN.kShooterTopId, MotorType.kBrushless);
+	private CANSparkMax bottomFlywheel = new CANSparkMax(Constants.CAN.kShooterBottomId, MotorType.kBrushless);;
+	private RelativeEncoder topEncoder;
+	private RelativeEncoder bottomEncoder;
+
+	// private double speed;
+
+	public ShooterSubsystem() {
+		// Initializes motor(s)
+		initializeMotors();
+		if (RobotBase.isSimulation()) {
+			initSim();
+		}
+	}
+
+	private void initializeMotors() {
+		topFlywheel.setIdleMode(IdleMode.kCoast);
+		topFlywheel.setSmartCurrentLimit(20);
+		topFlywheel.setOpenLoopRampRate(20);
+		topEncoder = topFlywheel.getEncoder();
+
+		bottomFlywheel.setIdleMode(IdleMode.kCoast);
+		bottomFlywheel.setSmartCurrentLimit(20);
+		bottomFlywheel.setOpenLoopRampRate(20);
+		bottomEncoder = bottomFlywheel.getEncoder();
+
+		bottomFlywheel.follow(topFlywheel);
+	}
+
+	@Override
+	public void periodic() {
+		SmartDashboard.putNumber("shooter/topRPM", getRPM());
+		SmartDashboard.putNumber("shooter/bottomRPM", bottomEncoder.getVelocity());
+	}
+
+	public double getRPM() {
+
+		return topEncoder.getVelocity();
+	}
+
+	public void setSpeed(double speed) {
+		topFlywheel.set(speed);
+	}
+
+	FlywheelSim flywheelSim;
+	RevEncoderSimWrapper encSim;
+	public void initSim() {
+		flywheelSim = new FlywheelSim(DCMotor.getNEO(1), 1, 1);
+		encSim = RevEncoderSimWrapper.create(topFlywheel);
+	}
+
+	@Override
+	public void simulationPeriodic() {
+		double motorVolts = topFlywheel.get() * 12;
+		flywheelSim.setInputVoltage(motorVolts);
+		flywheelSim.update(0.2);
+		encSim.setVelocity(flywheelSim.getAngularVelocityRPM());
+	}
+}

src/main/java/org/jmhsrobotics/frc2024/subsystems/shooter/commands/ShooterCommand.java

@@ -0,0 +1,42 @@
+package org.jmhsrobotics.frc2024.subsystems.shooter.commands;
+
+import org.jmhsrobotics.frc2024.subsystems.shooter.ShooterSubsystem;
+
+import edu.wpi.first.math.controller.PIDController;
+import edu.wpi.first.wpilibj2.command.Command;
+
+public class ShooterCommand extends Command {
+	private ShooterSubsystem shooter;
+	private double targetRPM;
+	private PIDController pid;
+
+	public ShooterCommand(double targetRPM, ShooterSubsystem shooterSubsystem) {
+		this.shooter = shooterSubsystem;
+		this.targetRPM = targetRPM;
+		pid = new PIDController(.1, 0, 0);
+
+		addRequirements(this.shooter);
+	}
+
+	@Override
+	public void initialize() {
+		pid.reset();
+		pid.setSetpoint(targetRPM);
+	}
+
+	@Override
+	public boolean isFinished() {
+		return false;
+	}
+
+	@Override
+	public void end(boolean interrupted) {
+		shooter.setSpeed(0);
+	}
+
+	@Override
+	public void execute() {
+		double motorSpeed = pid.calculate(shooter.getRPM(), targetRPM);
+		shooter.setSpeed(motorSpeed);
+	}
+}