Merge branch 'main' of https://github.com/team5115/2025-Bunnybots

Author: vox-eternal

src/main/java/frc/team5115/Constants.java

@@ -37,17 +37,6 @@ public static enum Mode {
 
     public static final byte ARM_MOTOR_ID = 11;
     public static final byte INTAKE_MOTOR_ID = 12;
-    public static final byte DISPENSER_MOTOR_ID = 13;
-    public static final byte DEALGAE_MOTOR_ID = 14;
-
-    public static final byte CLIMB_INAKE_SENSOR = 2;
-    public static final byte BACK_CORAL_SENSOR = 0;
-    public static final byte FRONT_CORAL_SENSOR = 3;
-
-    public static final byte ELEVATOR_FIRST_SENSOR_ID = 1;
-    public static final byte ELEVATOR_SECOND_SENSOR_ID = 4;
-    public static final byte ELEVATOR_THIRD_SENSOR_ID = 9;
-    // public static final byte ELEVATOR_FOURTH_SENSOR_ID = 6;
 
     public static final byte BLOCK_ACTUATOR_ID = 9;
 

src/main/java/frc/team5115/RobotContainer.java

@@ -24,6 +24,10 @@
 import frc.team5115.subsystems.drive.ModuleIO;
 import frc.team5115.subsystems.drive.ModuleIOSim;
 import frc.team5115.subsystems.drive.ModuleIOSparkMax;
+import frc.team5115.subsystems.outtake.Outtake;
+import frc.team5115.subsystems.outtake.OuttakeIO;
+import frc.team5115.subsystems.outtake.OuttakeIOReal;
+import frc.team5115.subsystems.outtake.OuttakeIOSim;
 import frc.team5115.subsystems.vision.PhotonVision;
 import frc.team5115.subsystems.vision.PhotonVisionIO;
 import frc.team5115.subsystems.vision.PhotonVisionIOReal;
@@ -43,6 +47,7 @@ public class RobotContainer {
     private final Drivetrain drivetrain;
     private final PhotonVision vision;
     private final Bling bling;
+    private final Outtake outtake;
 
     // Controllers
     private final CommandXboxController joyDrive = new CommandXboxController(0);
@@ -80,6 +85,7 @@ public RobotContainer() {
                                 new ModuleIOSparkMax(3));
                 vision = new PhotonVision(new PhotonVisionIOReal(), drivetrain);
                 bling = new Bling(new BlingIOReal());
+                outtake = new Outtake(new OuttakeIOReal(hub));
                 clearForMatchEntry =
                         Shuffleboard.getTab("SmartDashboard").add("ClearForMatch", false).getEntry();
                 break;
@@ -91,6 +97,7 @@ public RobotContainer() {
                                 gyro, new ModuleIOSim(), new ModuleIOSim(), new ModuleIOSim(), new ModuleIOSim());
                 vision = new PhotonVision(new PhotonVisionIOSim(), drivetrain);
                 bling = new Bling(new BlingIOSim());
+                outtake = new Outtake(new OuttakeIOSim());
                 clearForMatchEntry = null;
                 break;
 
@@ -102,6 +109,7 @@ public RobotContainer() {
                                 gyro, new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {}, new ModuleIO() {});
                 vision = new PhotonVision(new PhotonVisionIO() {}, drivetrain);
                 bling = new Bling(new BlingIO() {});
+                outtake = new Outtake(new OuttakeIO() {});
                 clearForMatchEntry = null;
                 break;
         }

src/main/java/frc/team5115/subsystems/outtake/Outtake.java

@@ -0,0 +1,29 @@
+package frc.team5115.subsystems.outtake;
+
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import org.littletonrobotics.junction.Logger;
+
+public class Outtake extends SubsystemBase {
+    private final OuttakeIO io;
+    private final OuttakeIOInputsAutoLogged inputs = new OuttakeIOInputsAutoLogged();
+
+    public Outtake(OuttakeIO io) {
+        this.io = io;
+    }
+
+    @Override
+    public void periodic() {
+        io.updateInputs(inputs);
+        Logger.processInputs(this.getName(), inputs);
+    }
+
+    private Command extend() {
+        return Commands.runOnce(() -> io.setPneumatic(true), this);
+    }
+
+    private Command retract() {
+        return Commands.runOnce(() -> io.setPneumatic(false), this);
+    }
+}

src/main/java/frc/team5115/subsystems/outtake/OuttakeIO.java

@@ -0,0 +1,15 @@
+package frc.team5115.subsystems.outtake;
+
+import org.littletonrobotics.junction.AutoLog;
+
+public interface OuttakeIO {
+
+    @AutoLog
+    public static class OuttakeIOInputs {
+        boolean state;
+    }
+
+    public default void updateInputs(OuttakeIOInputs inputs) {}
+
+    public default void setPneumatic(boolean extend) {}
+}

src/main/java/frc/team5115/subsystems/outtake/OuttakeIOReal.java

@@ -0,0 +1,27 @@
+package frc.team5115.subsystems.outtake;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticHub;
+import frc.team5115.Constants;
+
+public class OuttakeIOReal implements OuttakeIO {
+    private final DoubleSolenoid extender;
+    private boolean state;
+
+    public OuttakeIOReal(PneumaticHub hub) {
+        extender =
+                hub.makeDoubleSolenoid(
+                        Constants.DEALGAE_FORWARD_CHANNEL, Constants.DEALGAE_REVERSE_CHANNEL);
+    }
+
+    @Override
+    public void updateInputs(OuttakeIOInputs inputs) {
+        inputs.state = state;
+    }
+
+    @Override
+    public void setPneumatic(boolean extend) {
+        state = extend;
+        extender.set(extend ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse);
+    }
+}

src/main/java/frc/team5115/subsystems/outtake/OuttakeIOSim.java

@@ -0,0 +1,25 @@
+package frc.team5115.subsystems.outtake;
+
+import edu.wpi.first.wpilibj.DoubleSolenoid;
+import edu.wpi.first.wpilibj.PneumaticsModuleType;
+import edu.wpi.first.wpilibj.simulation.DoubleSolenoidSim;
+
+public class OuttakeIOSim implements OuttakeIO {
+    private final DoubleSolenoidSim extenderSim;
+    private boolean state = false;
+
+    public OuttakeIOSim() {
+        extenderSim = new DoubleSolenoidSim(PneumaticsModuleType.REVPH, 0, 0);
+    }
+
+    @Override
+    public void updateInputs(OuttakeIOInputs inputs) {
+        inputs.state = state;
+    }
+
+    @Override
+    public void setPneumatic(boolean extend) {
+        state = extend;
+        extenderSim.set((extend ? DoubleSolenoid.Value.kForward : DoubleSolenoid.Value.kReverse));
+    }
+}