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Merge pull request #7 from FairportRobotics/HopperId 

Hi Ray :)
This commit is contained in:
TheRealGreydon 2026-03-05 20:31:03 -05:00 committed by GitHub
parent c3653debcd 42c581957e
commit e8fe368b1f
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2 changed files with 13 additions and 12 deletions
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6
src/main/java/frc/robot/Constants.java
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@ -4,6 +4,8 @@
package frc.robot; package frc.robot;
import java.security.PublicKey;
/** /**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean * The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be declared * constants. This class should not be used for any other purpose. All constants should be declared
@ -66,4 +68,8 @@ public final class Constants {
public static final int INTAKE_MOTOR_ID = 2; public static final int INTAKE_MOTOR_ID = 2;
} }
public static class HopperConstants {
public static final int KICKER_MOTOR_ID = 0;
public static final int SPINDEXER_MOTOR_ID = 1;
}
} }

19
src/main/java/frc/robot/subsystems/HopperSubsystem.java
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@ -10,7 +10,7 @@ import org.fairportrobotics.frc.posty.test.PostTest;
import com.ctre.phoenix6.hardware.TalonFX; import com.ctre.phoenix6.hardware.TalonFX;
import static org.fairportrobotics.frc.posty.assertions.Assertions.*; import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
import frc.robot.Constants;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
public class HopperSubsystem extends TestableSubsystem { public class HopperSubsystem extends TestableSubsystem {
@ -19,28 +19,23 @@ public class HopperSubsystem extends TestableSubsystem {
private TalonFX kickerMotor; private TalonFX kickerMotor;
/** Creates a new HopperSubsystem. */ /** Creates a new HopperSubsystem. */
public HopperSubsystem() { public HopperSubsystem() {
spindexerMotor = new TalonFX(0); spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
kickerMotor = new TalonFX(1); kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
} }
public void feed(){ public void feed() {
kickerMotor.set(0.5); kickerMotor.set(0.5);
} }
public void reverse(){ public void reverse() {
kickerMotor.set(-0.5); kickerMotor.set(-0.5);
} }
public void stop(){ public void stop() {
kickerMotor.set(0); kickerMotor.set(0);
} }
public void spin(double speed){ public void spin(double speed) {
spindexerMotor.set(speed); spindexerMotor.set(speed);
} }