46 lines
1.5 KiB
Java
46 lines
1.5 KiB
Java
// 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 static org.fairportrobotics.frc.robolib.motors.Utils.*;
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import frc.robot.Constants;
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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(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
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SetMotorDirection(spindexerMotor, Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION);
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kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
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SetMotorDirection(kickerMotor, Constants.HopperConstants.KICKER_MOTOR_DIRECTION);
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}
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public void feed() {kickerMotor.set(0.5);}
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public void reverse() {kickerMotor.set(-0.5);}
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public void stop() {kickerMotor.set(0);}
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public void spin(double speed) {spindexerMotor.set(speed);}
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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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} |