From 8981527cecd5561b0f4a62733c407569a2f8f720 Mon Sep 17 00:00:00 2001
From: Mike Silva <mike.a.silva@gmail.com>
Date: Sun, 25 Jan 2026 09:10:19 -0500
Subject: [PATCH] More tinkering

---
 components/__init__.py |  6 +++-
 components/agitator.py | 24 ++++++++++++++
 components/gyro.py     | 74 ++++++++++++++++++++++++++++++++++++++++++
 components/intake.py   | 11 +++++--
 components/pigeon.py   | 33 -------------------
 5 files changed, 111 insertions(+), 37 deletions(-)
 create mode 100644 components/agitator.py
 create mode 100644 components/gyro.py
 delete mode 100644 components/pigeon.py

diff --git a/components/__init__.py b/components/__init__.py
index 24334a6..f13fb8e 100644
--- a/components/__init__.py
+++ b/components/__init__.py
@@ -1,8 +1,12 @@
 # from .drivetrain import DriveTrain
+from .agitator import Agitator
 from .controller import XboxController
-from .pigeon import Pigeon
+from .gyro import Pigeon
+from .intake import Intake
 
 __all__ = [
+    "Agitator",
+    "Intake",
     "Pigeon",
     "XboxController",
 ]
diff --git a/components/agitator.py b/components/agitator.py
new file mode 100644
index 0000000..4580956
--- /dev/null
+++ b/components/agitator.py
@@ -0,0 +1,24 @@
+import magicbot
+from phoenix6.hardware import TalonFX
+from phoenix6.configs.talon_fx_configs import TalonFXConfiguration
+from phoenix6.signals import NeutralModeValue
+from phoenix6.controls import VoltageOut
+
+
+class Agitator:
+    motor: TalonFX
+    voltage = magicbot.will_reset_to(0.0)
+
+    def execute(self):
+        self.motor.set_control(VoltageOut(self.voltage))
+
+    def setup(self):
+        config = TalonFXConfiguration()
+        config.motor_output.neutral_mode = NeutralModeValue.BRAKE
+        self.motor.configurator.apply(config)
+
+    def spin(self):
+        self.voltage = 1.0
+
+    def stop(self):
+        self.voltage = 0.0
diff --git a/components/gyro.py b/components/gyro.py
new file mode 100644
index 0000000..ebc66ba
--- /dev/null
+++ b/components/gyro.py
@@ -0,0 +1,74 @@
+import math
+from phoenix6.hardware.pigeon2 import Pigeon2
+import navx
+
+
+class Pigeon:
+    gyro: Pigeon2
+
+    def setup(self):
+        self.gyro.reset()
+
+    def execute(self):
+        pass
+
+    def yaw(self) -> float:
+        return self.gyro.get_yaw().value
+
+    def roll(self) -> float:
+        return self.gyro.get_roll().value
+
+    def pitch(self) -> float:
+        return self.gyro.get_pitch().value
+
+    def rotation2d(self):
+        return self.gyro.getRotation2d()
+
+    def degrees_per_second_ccw(self) -> float:
+        return self.gyro.get_angular_velocity_z_world().value
+
+    def radians_per_second_ccw(self) -> float:
+        return math.radians(self.degrees_per_second_ccw())
+
+    def set_yaw(self, angle):
+        self.gyro.set_yaw(angle)
+
+
+class NavX:
+    gyro: navx.AHRS  # Either navx.AHRS.create_spi() or navx.AHRS.create_i2c()
+
+    def setup(self):
+        self.gyro.reset()
+
+    def execute(self):
+        pass
+
+    def yaw(self) -> float:
+        return self.gyro.getYaw()
+
+    def roll(self) -> float:
+        return self.gyro.getRoll()
+
+    def pitch(self) -> float:
+        return self.gyro.getPitch()
+
+    def is_calibrating(self) -> bool:
+        return self.gyro.isCalibrating()
+
+    def is_connected(self) -> bool:
+        return self.gyro.isConnected()
+
+    def rotation2d(self):
+        return self.gyro.getRotation2d()
+
+    def rotation3d(self):
+        return self.gyro.getRotation3d()
+
+    def reset(self) -> None:
+        self.gyro.reset()
+
+    def fused_heading(self) -> float:
+        return self.gyro.getFusedHeading()
+
+    def zero_yaw(self) -> None:
+        self.gyro.zeroYaw()
diff --git a/components/intake.py b/components/intake.py
index fffa48c..b7c82a2 100644
--- a/components/intake.py
+++ b/components/intake.py
@@ -11,13 +11,18 @@ class Intake:
     voltage = magicbot.will_reset_to(0.0)
 
     def execute(self):
-        motor_control = VoltageOut(self.voltage)
-        self.motor.set_control(motor_control)S
+        self.motor.set_control(VoltageOut(self.voltage))
 
     def setup(self):
         config = TalonFXConfiguration()
         config.motor_output.neutral_mode = NeutralModeValue.BRAKE
         self.motor.configurator.apply(config)
 
+    def extend(self):
+        pass  # Implement extension logic here
+
+    def retract(self):
+        pass  # Implement retraction logic here
+
     def set_voltage(self, voltage: units.volts):
-        self.voltage = voltage
\ No newline at end of file
+        self.voltage = voltage
diff --git a/components/pigeon.py b/components/pigeon.py
deleted file mode 100644
index 1a5ee56..0000000
--- a/components/pigeon.py
+++ /dev/null
@@ -1,33 +0,0 @@
-import math
-from phoenix6.hardware.pigeon2 import Pigeon2
-
-class Pigeon:
-
-    gyro: Pigeon2
-
-    def setup(self):
-        self.gyro.reset()
-
-    def execute(self):
-        pass
-
-    def yaw(self) -> float:
-        return self.gyro.get_yaw().value
-    
-    def roll(self) -> float:
-        return self.gyro.get_roll().value
-
-    def pitch(self) -> float:
-        return self.gyro.get_pitch().value
-    
-    def rotation2d(self):
-        return self.gyro.getRotation2d()
-    
-    def degrees_per_second_ccw(self) -> float:
-        return self.gyro.get_angular_velocity_z_world().value
-
-    def getRadiansPerSecCCW(self) -> float:
-        return math.radians(self.degrees_per_second_ccw())
-    
-    def set_yaw(self, angle):
-        self.gyro.set_yaw(angle)
\ No newline at end of file