WIP

src/main/java/frc/robot/arm/ArmConstants.java

@@ -5,6 +5,12 @@ public class ArmConstants {
 
   /** Constants for the shoulder motor. */
   public static class ShoulderMotorConstants {
+    /** Gearing between the soulder motor and the shoulder joint. */
+    public static final double GEARING = 51.2;
+
+    /** If true, invert the shoulder motor. */
+    public static final boolean IS_INVERTED = true;
+
     /** Maximum voltage that can be applied to the shoulder motor. */
     public static final double MAXIMUM_VOLTAGE = 2.0;
   }

src/main/java/frc/robot/arm/ArmFactory.java

@@ -22,8 +22,6 @@ public static ShoulderMotorIO createShoulderMotor() {
    * @return an elbow motor.
    */
   public static ElbowMotorIO createElbowMotor() {
-    if (Robot.isReal()) return new ElbowMotorIOSparkMax();
-
-    return new ElbowMotorIOSparkMax();
+    return new ElbowMotorIOSim();
   }
 }

src/main/java/frc/robot/arm/ElbowMotorIOSim.java

@@ -0,0 +1,23 @@
+package frc.robot.arm;
+
+/** Simulated elbow motor. */
+public class ElbowMotorIOSim  implements ElbowMotorIO {
+
+  @Override
+  public void configure() {}
+
+  @Override
+  public void update(ElbowMotorIOValues values) {}
+
+  @Override
+  public void setPosition(double positionRotations) {}
+
+  @Override
+  public void runSetpoint(double positionRotations) {}
+
+  @Override
+  public void setVoltage(double volts) {}
+
+  @Override
+  public void stop() {}
+}

src/main/java/frc/robot/arm/ShoulderMotorIOSparkMax.java

@@ -33,6 +33,8 @@ public void configure() {
     Configurator.configureREV(sparkMax::restoreFactoryDefaults);
 
     Configurator.configureREV(() -> sparkMax.setIdleMode(IdleMode.kBrake));
+
+    sparkMax.setInverted(ShoulderMotorConstants.IS_INVERTED);
   }
 
   @Override
@@ -43,7 +45,7 @@ public void update(ShoulderMotorIOValues values) {
 
   @Override
   public void setPosition(double positionRotations) {
-    // TODO
+    sparkMax.getEncoder().setPosition(positionRotations * ShoulderMotorConstants.GEARING);
   }
 
   @Override
@@ -79,6 +81,6 @@ public void stop() {
    * @return the absolute position of the shoulder in rotations.
    */
   private double getPositionRotations() {
-    return sparkMax.getEncoder().getPosition();
+    return sparkMax.getEncoder().getPosition() / ShoulderMotorConstants.GEARING;
   }
 }

src/main/java/frc/robot/intake/IntakeFactory.java

@@ -11,7 +11,7 @@ public class IntakeFactory {
    * @return a roller motor.
    */
   public static RollerMotorIO createRollerMotor() {
-    if (Robot.isReal()) return new RollerMotorIOSparkMax();
+    //if (Robot.isReal()) return new RollerMotorIOSparkMax();
 
     return new RollerMotorIOSim();
   }

src/main/java/frc/robot/lights/LightsFactory.java

@@ -11,7 +11,7 @@ public class LightsFactory {
    * @return an LED controller.
    */
   public static LEDControllerIO createLEDController() {
-    if (Robot.isReal()) return new LEDControllerIOCANdle();
+    //if (Robot.isReal()) return new LEDControllerIOCANdle();
 
     return new LEDControllerIOSim();
   }

src/main/java/frc/robot/odometry/OdometryFactory.java

@@ -13,7 +13,7 @@ public class OdometryFactory {
    * @return a gyroscope.
    */
   public static GyroscopeIO createGyroscope(CAN gyroscopeCAN, Odometry odometry) {
-    if (Robot.isReal()) return new GyroscopeIOPigeon2(gyroscopeCAN);
+    //if (Robot.isReal()) return new GyroscopeIOPigeon2(gyroscopeCAN);
 
     return new GyroscopeIOSim(odometry);
   }

src/main/java/frc/robot/shooter/ShooterFactory.java

@@ -22,7 +22,7 @@ public static BeamBreakSensorIO createBeamBreakSensor() {
    * @return a serializer motor.
    */
   public static SerializerMotorIO createSerializerMotor() {
-    if (Robot.isReal()) return new SerializerMotorIOSparkMax();
+    //if (Robot.isReal()) return new SerializerMotorIOSparkMax();
 
     return new SerializerMotorIOSim();
   }
@@ -33,7 +33,7 @@ public static SerializerMotorIO createSerializerMotor() {
    * @return a flywheel motor.
    */
   public static FlywheelMotorIO createFlywheelMotor() {
-    if (Robot.isReal()) return new FlywheelMotorIOSparkMax(); // TODO
+    //if (Robot.isReal()) return new FlywheelMotorIOSparkMax(); // TODO
 
     return new FlywheelMotorIOSim();
   }

src/main/java/frc/robot/swerve/SwerveFactory.java

@@ -23,8 +23,8 @@ public static SwerveModuleIO createModule(SwerveModuleConfig config) {
    * @return an azimuth encoder.
    */
   public static AzimuthEncoderIO createAzimuthEncoder(SwerveModuleConfig config) {
-    if (Robot.isReal())
-      return new AzimuthEncoderIOCANcoder(config.moduleCAN().azimuth(), config.offset());
+    // if (Robot.isReal())
+    //   return new AzimuthEncoderIOCANcoder(config.moduleCAN().azimuth(), config.offset());
 
     return new AzimuthEncoderIOSim();
   }
@@ -46,8 +46,8 @@ public static CANcoderConfiguration createAzimuthEncoderConfig() {
    * @return a steer motor.
    */
   public static SteerMotorIO createSteerMotor(SwerveModuleConfig config) {
-    if (Robot.isReal())
-      return new SteerMotorIOTalonFXPIDF(config.moduleCAN().steer(), config.moduleCAN().azimuth());
+    // if (Robot.isReal())
+    //   return new SteerMotorIOTalonFXPIDF(config.moduleCAN().steer(), config.moduleCAN().azimuth());
 
     return new SteerMotorIOSim();
   }
@@ -58,7 +58,7 @@ public static SteerMotorIO createSteerMotor(SwerveModuleConfig config) {
    * @return a drive motor.
    */
   public static DriveMotorIO createDriveMotor(SwerveModuleConfig config) {
-    if (Robot.isReal()) return new DriveMotorIOTalonFXPID(config.moduleCAN().drive());
+    //if (Robot.isReal()) return new DriveMotorIOTalonFXPID(config.moduleCAN().drive());
 
     return new DriveMotorIOSim();
   }