Edit Constants

(this will finish adding all changes currently on origin for all subsystem branches

src/main/java/frc/robot/subsystems/shooter/Pivot.java

@@ -1,40 +1,29 @@
-package frc.robot.subsystems.shooter;
+package frc.robot.subsystems.Shooter;
 
-import com.revrobotics.CANSparkLowLevel.PeriodicFrame;
+public class Pivot {
+    pivot = new Neo(ShooterConstants.SHOOTER_PIVOT_CAN_ID);
+    configMotor();
+}
 
-import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.util.Neo;
-import frc.robot.util.Constants.ShooterConstants;
-
-public class Pivot extends SubsystemBase {
-    private Neo pivot;
-
-    public Pivot() {
-        this.pivot = new Neo(ShooterConstants.SHOOTER_PIVOT_CAN_ID);
-
-        configMotor();
-    }
-
-
-    public void configMotor() {
-        pivot.setSmartCurrentLimit(ShooterConstants.PIVOT_CURRENT_LIMIT);
+public void configMotor() {
+        pivot.setSmartCurrentLimit(PivotConstants.PIVOT_CURRENT_LIMIT);
+        // See https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces
         pivot.setPeriodicFramePeriod(PeriodicFrame.kStatus3, 65535);
         pivot.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 65535);
         pivot.setInverted(false);
 
-        pivot.setPID(
-                ShooterConstants.PIVOT_P,
-                ShooterConstants.PIVOT_I,
-                ShooterConstants.PIVOT_D,
-                ShooterConstants.PIVOT_MIN_OUTPUT,
-                ShooterConstants.PIVOT_MAX_OUTPUT);
+        Pivot.setPID(
+                ShooterConstants.SHOOTER_P,
+                ShooterConstants.SHOOTER_I,
+                ShooterConstants.SHOOTER_D,
+                ShooterConstants.SHOOTER_MIN_OUTPUT,
+                ShooterConstants.SHOOTER_MAX_OUTPUT);
 
 
         //sets brake mode
         pivot.setBrakeMode();
     }
 
-    public void setAngle(double angle) {
-        pivot.setTargetPosition(angle);
-    }
+public void setAngle(double angle) {
+    pivot.setTargetPosition(angle);
 }

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -2,29 +2,37 @@
 // Open Source Software; you can modify and/or share it under the terms of
 // the WPILib BSD license file in the root directory of this project.
 
-package frc.robot.subsystems.shooter;
+package frc.robot.subsystems;
 
+import java.util.Optional;
+import edu.wpi.first.math.geometry.Pose2d;
+import edu.wpi.first.math.util.Units;
+import edu.wpi.first.wpilibj.DriverStation.Alliance;
+import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.util.Neo;
+import frc.robot.util.SpeedAnglePair;
+import frc.robot.util.Constants.FieldConstants;
 import frc.robot.util.Constants.ShooterConstants;
 
 public class Shooter extends SubsystemBase {
     /** Creates a new shooter. */
     private final Neo motorLeft;
     private final Neo motorRight;
+    private final Neo pivotMotor;
 
     public Shooter() {
 
         motorLeft = new Neo(ShooterConstants.LEFT_SHOOTER_CAN_ID);
         motorRight = new Neo(ShooterConstants.RIGHT_SHOOTER_CAN_ID);
 
+        pivotMotor = new Neo(ShooterConstants.SHOOTER_PIVOT_CAN_ID);
+
         configMotors();
 
     }
 
     public void configMotors() {
-        motorLeft.setSmartCurrentLimit(ShooterConstants.SHOOTER_CURRENT_LIMIT);
-        motorRight.setSmartCurrentLimit(ShooterConstants.SHOOTER_CURRENT_LIMIT);
         motorLeft.setPID(
                 ShooterConstants.SHOOTER_P,
                 ShooterConstants.SHOOTER_I,
@@ -33,18 +41,22 @@ public void configMotors() {
                 ShooterConstants.SHOOTER_MAX_OUTPUT);
 
         motorLeft.addFollower(motorRight, true);
+        // Current limit
+        // Velocity conversion factor (make gear ratio in constants)
+
     }
 
     @Override
     public void periodic() {
         // This method will be called once per scheduler run
     }
 
-    public void setSpeed(double calc) {
-        motorLeft.setTargetVelocity(calc);
+    public void setTargetVelocity(double calc) {
+        motorLeft.getPIDController().setTargetVelocity(calc);
     }
 
-    public void stop() {
-        motorLeft.setTargetVelocity(0);
+    public void setTargetVelocity() {
+        motorLeft.getPIDController().setTargetVelocity(0);
     }
 }
+