Start more OOP approach to codriver controls

src/main/java/frc/robot/Constants.java

@@ -16,7 +16,9 @@ public class Constants {
 
     /*SHOOTER CONFIG*/
     /**the amount of time we let the wheels rev up when shooting in seconds */
-    public static final double REV_TIME = 1.0;
+    public static final double SHOOTER_FLYWHEEL_STARTUP_TIME = 1.0;
+    /*The amount of seconds that the feeder should wait before turning off after shooting */
+    public static final double FEEDER_MOTOR_SHUTOFF_TIME = 0;
 
     /*CLIMB CONFIG */
     public static final double CLIMB_EXTENDED_ENCODER_POSITION = 5;
@@ -60,4 +62,5 @@ public class Constants {
     /* ROTATION PID CONSTANTS */
 
     public static final double ROTATION_ERROR_DEGREES = 5.;
+    public static final double SHOOTING_VELOCITY = 4000;
 }

src/main/java/frc/robot/InputtedCoDriverControls.java

@@ -21,7 +21,6 @@ public static void onEveryFrame() {
         if (controller.getXButtonPressed()) {
             shootIntoSpeaker();
         }
-        doShooterIntake();
         Robot.motors.getIntake().stopMotor();
         if (controller.getYButton()) {
             doFloorIntake();
@@ -55,16 +54,6 @@ private static void retractArms() {
         Robot.getTeleopActionRunner().removeActionsOfType(ExtendArms.class);
     }
 
-    private static void doShooterIntake() {
-        if (controller.getPOV() == 0) {
-            Robot.motors.getRightFlywheel().set(0.3);
-            Robot.motors.getLeftFlywheel().set(-0.3);
-        } else if (controller.getPOV() == 180) {
-            Robot.motors.getRightFlywheel().set(0);
-            Robot.motors.getLeftFlywheel().set(0);
-        }
-    }
-
     private static void shootIntoSpeaker() {
         Robot.getTeleopActionRunner().addActionToRun(new AutonShoot());
     }

src/main/java/frc/robot/RobotComponents/Climber.java

@@ -0,0 +1,3 @@
+package frc.robot.RobotComponents;
+
+public class Climber {}

src/main/java/frc/robot/RobotComponents/Intake.java

@@ -0,0 +1,3 @@
+package frc.robot.RobotComponents;
+
+public class Intake {}

src/main/java/frc/robot/RobotComponents/Shooter.java

@@ -0,0 +1,23 @@
+package frc.robot.RobotComponents;
+
+import frc.robot.Constants;
+import frc.robot.Robot;
+import frc.robot.auton.AutonShooterFeed;
+
+public class Shooter {
+
+    public void startShooterMotors() {
+        Robot.motors.getLeftFlywheel().setVelocity(Constants.SHOOTING_VELOCITY);
+        Robot.motors.getRightFlywheel().setVelocity(Constants.SHOOTING_VELOCITY);
+    }
+
+    public void stopShooterMotors() {
+        Robot.motors.getLeftFlywheel().stopMotor();
+        Robot.motors.getRightFlywheel().stopMotor();
+    }
+
+    public void startFeedMotors() {
+        Robot.getTeleopActionRunner().removeActionsOfType(AutonShooterFeed.class);
+        Robot.getTeleopActionRunner().addActionToRun(new AutonShooterFeed());
+    }
+}

src/main/java/frc/robot/auton/AutonShoot.java

@@ -14,17 +14,15 @@ public boolean isDone() {
             Robot.motors.getFeeder().set(0.2);
             Robot.motors.getIntake().set(.2);
         }
-        if (Timer.getFPGATimestamp() >= revFinishedTime + 1.0) {
-            return true;
-        }
-        return false;
+
+        return Timer.getFPGATimestamp() >= revFinishedTime + 1.0;
     }
 
     @Override
     public void initiate() {
         Robot.motors.getLeftFlywheel().set(1.0);
         Robot.motors.getRightFlywheel().set(-1.0);
-        revFinishedTime = Timer.getFPGATimestamp() + Constants.REV_TIME;
+        revFinishedTime = Timer.getFPGATimestamp() + Constants.SHOOTER_FLYWHEEL_STARTUP_TIME;
     }
 
     @Override

src/main/java/frc/robot/auton/AutonShooterFeed.java

@@ -0,0 +1,26 @@
+package frc.robot.auton;
+
+import edu.wpi.first.wpilibj.Timer;
+import frc.robot.Constants;
+import frc.robot.Robot;
+
+public class AutonShooterFeed extends AutonAction {
+
+    private double revFinishedTime;
+
+    @Override
+    public boolean isDone() {
+        return Timer.getFPGATimestamp() > revFinishedTime;
+    }
+
+    @Override
+    public void initiate() {
+        Robot.motors.getFeeder().set(0.75);
+        revFinishedTime = Timer.getFPGATimestamp() + Constants.FEEDER_MOTOR_SHUTOFF_TIME;
+    }
+
+    @Override
+    public void shutdown() {
+        Robot.motors.getFeeder().stopMotor();
+    }
+}