Merge pull request #5 from FairportRobotics/ganraly-hopper
Ganraly hopper
This commit is contained in:
Raymond Healy
GitHub
commit
c3653debcd
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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package frc.robot.subsystems;
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import org.fairportrobotics.frc.posty.TestableSubsystem;
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import org.fairportrobotics.frc.posty.test.PostTest;
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import com.ctre.phoenix6.hardware.TalonFX;
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import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
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import edu.wpi.first.wpilibj2.command.Command;
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public class HopperSubsystem extends TestableSubsystem {
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private TalonFX spindexerMotor;
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private TalonFX kickerMotor;
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/** Creates a new HopperSubsystem. */
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public HopperSubsystem() {
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spindexerMotor = new TalonFX(0);
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kickerMotor = new TalonFX(1);
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}
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public void feed(){
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kickerMotor.set(0.5);
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}
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public void reverse(){
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kickerMotor.set(-0.5);
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}
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public void stop(){
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kickerMotor.set(0);
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}
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public void spin(double speed){
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spindexerMotor.set(speed);
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}
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/**
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* Example command factory method.
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*
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* @return a command
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*/
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public Command exampleMethodCommand() {
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// Inline construction of command goes here.
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// Subsystem::RunOnce implicitly requires `this` subsystem.
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return runOnce(
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() -> {
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/* one-time action goes here */
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});
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}
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/**
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* An example method querying a boolean state of the subsystem (for example, a digital sensor).
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*
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* @return value of some boolean subsystem state, such as a digital sensor.
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*/
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public boolean exampleCondition() {
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// Query some boolean state, such as a digital sensor.
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return false;
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}
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@Override
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public void periodic() {
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// This method will be called once per scheduler run
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}
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@Override
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public void simulationPeriodic() {
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// This method will be called once per scheduler run during simulation
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}
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@PostTest(name = "A friendly name", enabled = true)
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public void myFailingPostTest(){
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assertThat(true).isFalse();
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}
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@PostTest(enabled = true)
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public void myPassingPostTest(){
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assertThat("Hello World").endWith("World");
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}
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}
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@ -0,0 +1,171 @@
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{
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"fileName": "Phoenix5-5.36.0.json",
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"name": "CTRE-Phoenix (v5)",
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"version": "5.36.0",
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"frcYear": "2026",
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"uuid": "ab676553-b602-441f-a38d-f1296eff6537",
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"mavenUrls": [
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"https://maven.ctr-electronics.com/release/"
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],
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"jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2026-latest.json",
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"requires": [
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{
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"uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
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"errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6. Please add the Phoenix 6 vendordep before adding Phoenix 5.",
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"offlineFileName": "Phoenix6-frc2026-latest.json",
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"onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2026-latest.json"
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}
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],
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"conflictsWith": [
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{
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"uuid": "e7900d8d-826f-4dca-a1ff-182f658e98af",
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"errorMessage": "Users must use the Phoenix 5 replay vendordep when using the Phoenix 6 replay vendordep.",
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"offlineFileName": "Phoenix6-replay-frc2026-latest.json"
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},
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{
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"uuid": "fbc886a4-2cec-40c0-9835-71086a8cc3df",
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"errorMessage": "Users cannot have both the replay and regular Phoenix 5 vendordeps in their robot program.",
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"offlineFileName": "Phoenix5-replay-frc2026-latest.json"
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}
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],
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"javaDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-java",
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"version": "5.36.0"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-java",
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"version": "5.36.0"
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}
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],
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"jniDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.36.0",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "cci-sim",
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"version": "5.36.0",
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"isJar": false,
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"skipInvalidPlatforms": true,
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"validPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"osxuniversal"
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],
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"simMode": "swsim"
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}
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],
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"cppDependencies": [
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "wpiapi-cpp",
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"version": "5.36.0",
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"libName": "CTRE_Phoenix_WPI",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "api-cpp",
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"version": "5.36.0",
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"libName": "CTRE_Phoenix",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix",
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"artifactId": "cci",
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"version": "5.36.0",
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"libName": "CTRE_PhoenixCCI",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"linuxathena"
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],
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"simMode": "hwsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "wpiapi-cpp-sim",
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"version": "5.36.0",
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"libName": "CTRE_Phoenix_WPISim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"osxuniversal"
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],
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"simMode": "swsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "api-cpp-sim",
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"version": "5.36.0",
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"libName": "CTRE_PhoenixSim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"osxuniversal"
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],
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"simMode": "swsim"
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},
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{
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"groupId": "com.ctre.phoenix.sim",
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"artifactId": "cci-sim",
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"version": "5.36.0",
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"libName": "CTRE_PhoenixCCISim",
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"headerClassifier": "headers",
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"sharedLibrary": true,
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"skipInvalidPlatforms": true,
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"binaryPlatforms": [
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"windowsx86-64",
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"linuxx86-64",
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"linuxarm64",
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"osxuniversal"
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],
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"simMode": "swsim"
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}
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]
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}
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