feat(shooter): Add simulated hardware.

simgui.json

@@ -4,6 +4,16 @@
       "/FMSInfo": "FMSInfo"
     }
   },
+  "NetworkTables": {
+    "transitory": {
+      "shooter": {
+        "beamBreakSensorSim": {
+          "open": true
+        },
+        "open": true
+      }
+    }
+  },
   "NetworkTables Info": {
     "visible": true
   }

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

@@ -0,0 +1,18 @@
+package frc.robot.shooter;
+
+/** Beam break sensor hardware interface. */
+public interface BeamBreakSensorIO {
+
+  /** Values for the beam break sensor hardware interface. */
+  public static class BeamBreakSensorIOValues {
+    /** If true, the beam break sensor is broken. */
+    public boolean isBroken = false;
+  }
+
+  /**
+   * Updates the beam break sensor's values.
+   *
+   * @param values
+   */
+  public void update(BeamBreakSensorIOValues values);
+}

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

@@ -0,0 +1,27 @@
+package frc.robot.shooter;
+
+import edu.wpi.first.networktables.BooleanTopic;
+import edu.wpi.first.networktables.NetworkTable;
+import edu.wpi.first.networktables.NetworkTableInstance;
+import java.util.function.BooleanSupplier;
+
+/** Simulated beam break sensor. */
+public class BeamBreakSensorIOSim implements BeamBreakSensorIO {
+
+  /** Supplies values for if the beam break sensor is broken. */
+  private final BooleanSupplier isBrokenSupplier;
+
+  /** Creates a simulated beam break sensor. */
+  public BeamBreakSensorIOSim() {
+    NetworkTable table = NetworkTableInstance.getDefault().getTable("shooter/beamBreakSensorSim");
+
+    BooleanTopic isBrokenTopic = table.getBooleanTopic("isBroken");
+    isBrokenTopic.publish().set(false);
+    isBrokenSupplier = isBrokenTopic.subscribe(false);
+  }
+
+  @Override
+  public void update(BeamBreakSensorIOValues values) {
+    values.isBroken = isBrokenSupplier.getAsBoolean();
+  }
+}

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

@@ -0,0 +1,28 @@
+package frc.robot.shooter;
+
+/** Flywheel motor hardware interface. */
+public interface FlywheelMotorIO {
+
+  /** Values for the flywheel motor hardware interface. */
+  public static class FlywheelMotorIOValues {
+    /** Angular velocity of the flywheel in rotations per second. */
+    public double angularVelocityRotationsPerSecond = 0.0;
+
+    /** Current drawn by the flywheel motor in amps. */
+    public double currentAmps = 0.0;
+  }
+
+  /**
+   * Updates the flywheel motor's values.
+   *
+   * @param values
+   */
+  public void update(FlywheelMotorIOValues values);
+
+  /**
+   * Run the flywheel motor with the specified voltage.
+   *
+   * @param volts volts to apply to the flywheel motor.
+   */
+  public void setVoltage(double volts);
+}

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

@@ -0,0 +1,27 @@
+package frc.robot.shooter;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+import frc.robot.shooter.ShooterConstants.FlywheelConstants;
+
+/** Simulated flywheel motor. */
+public class FlywheelMotorIOSim implements FlywheelMotorIO {
+
+  /** Represents the motor used the drive the flywheel. */
+  private final DCMotor motorSim = DCMotor.getNeo550(1);
+
+  /** Represents the flywheel driven by the motor. */
+  private final FlywheelSim flywheelSim =
+      new FlywheelSim(motorSim, FlywheelConstants.GEARING, FlywheelConstants.MOI);
+
+  @Override
+  public void update(FlywheelMotorIOValues values) {
+    values.angularVelocityRotationsPerSecond = flywheelSim.getAngularVelocityRPM() / 60.0;
+    values.currentAmps = flywheelSim.getCurrentDrawAmps();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    flywheelSim.setInputVoltage(volts);
+  }
+}

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

@@ -0,0 +1,28 @@
+package frc.robot.shooter;
+
+/** Serializer motor hardware interface. */
+public interface SerializerMotorIO {
+
+  /** Values for the serializer motor hardware interface. */
+  public static class SerializerMotorIOValues {
+    /** Angular velocity of the serializer in rotations per second. */
+    public double angularVelocityRotationsPerSecond = 0.0;
+
+    /** Current drawn by the serializer motor in amps. */
+    public double currentAmps = 0.0;
+  }
+
+  /**
+   * Updates the serializer motor's values.
+   *
+   * @param values
+   */
+  public void update(SerializerMotorIOValues values);
+
+  /**
+   * Run the serializer motor with the specified voltage.
+   *
+   * @param volts volts to apply to the serializer motor.
+   */
+  public void setVoltage(double volts);
+}

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

@@ -0,0 +1,27 @@
+package frc.robot.shooter;
+
+import edu.wpi.first.math.system.plant.DCMotor;
+import edu.wpi.first.wpilibj.simulation.FlywheelSim;
+import frc.robot.shooter.ShooterConstants.SerializerConstants;
+
+/** Simulated serializer motor. */
+public class SerializerMotorIOSim implements SerializerMotorIO {
+
+  /** Represents the motor used the drive the serializer. */
+  private final DCMotor motorSim = DCMotor.getNeo550(1);
+
+  /** Represents the serializer driven by the motor. */
+  private final FlywheelSim serializerSim =
+      new FlywheelSim(motorSim, SerializerConstants.GEARING, SerializerConstants.MOI);
+
+  @Override
+  public void update(SerializerMotorIOValues values) {
+    values.angularVelocityRotationsPerSecond = serializerSim.getAngularVelocityRPM() / 60.0;
+    values.currentAmps = serializerSim.getCurrentDrawAmps();
+  }
+
+  @Override
+  public void setVoltage(double volts) {
+    serializerSim.setInputVoltage(volts);
+  }
+}

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

@@ -1,16 +1,45 @@
 package frc.robot.shooter;
 
+import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
+import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
 import frc.lib.Subsystem;
+import frc.robot.shooter.BeamBreakSensorIO.BeamBreakSensorIOValues;
+import frc.robot.shooter.FlywheelMotorIO.FlywheelMotorIOValues;
+import frc.robot.shooter.SerializerMotorIO.SerializerMotorIOValues;
+import frc.robot.shooter.ShooterConstants.FlywheelConstants;
+import frc.robot.shooter.ShooterConstants.SerializerConstants;
 
-/** The subsystem class for the shooter subsystem. */
+/** Subsystem class for the shooter subsystem. */
 public class Shooter extends Subsystem {
 
-  /** The instance variable for the shooter subsystem singleton. */
+  /** Instance variable for the shooter subsystem singleton. */
   private static Shooter instance = null;
 
+  /** Beam break sensor. */
+  private final BeamBreakSensorIO beamBreakSensor;
+
+  /** Beam break sensor values. */
+  private final BeamBreakSensorIOValues beamBreakSensorValues = new BeamBreakSensorIOValues();
+
+  /** Serializer motor. */
+  private final SerializerMotorIO serializerMotor;
+
+  /** Serializer motor values. */
+  private final SerializerMotorIOValues serializerMotorValues = new SerializerMotorIOValues();
+
+  /** Flywheel motor. */
+  private final FlywheelMotorIO flywheelMotor;
+
+  /** Flywheel motor values. */
+  private final FlywheelMotorIOValues flywheelMotorValues = new FlywheelMotorIOValues();
+
   /** Creates a new instance of the shooter subsystem. */
-  private Shooter() {}
+  private Shooter() {
+    beamBreakSensor = ShooterFactory.createBeamBreakSensor();
+    serializerMotor = ShooterFactory.createSerializerMotor();
+    flywheelMotor = ShooterFactory.createFlywheelMotor();
+  }
 
   /**
    * Gets the instance of the shooter subsystem.
@@ -27,11 +56,46 @@ public static Shooter getInstance() {
 
   @Override
   public void periodic() {
-    // TODO
+    beamBreakSensor.update(beamBreakSensorValues);
+    serializerMotor.update(serializerMotorValues);
+    flywheelMotor.update(flywheelMotorValues);
+  }
+
+  /**
+   * Calculates the tangential speed of the serializer in meters per second.
+   *
+   * @return the tangential speed of the serializer in meters per second.
+   */
+  private double getSerializerTangentialSpeed() {
+    return serializerMotorValues.angularVelocityRotationsPerSecond * SerializerConstants.RADIUS;
+  }
+
+  /**
+   * Calculates the tangential speed of the flywheel in meters per second.
+   *
+   * @return the tangential speed of the flywheel in meters per second.
+   */
+  private double getFlywheelTangentialSpeed() {
+    return flywheelMotorValues.angularVelocityRotationsPerSecond * FlywheelConstants.RADIUS;
   }
 
   @Override
   public void addToShuffleboard(ShuffleboardTab tab) {
-    // TODO
+    ShuffleboardLayout sensors =
+        tab.getLayout("Sensors", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 4);
+
+    sensors.addBoolean("Beam Break Sensor Is Broken?", () -> beamBreakSensorValues.isBroken);
+
+    ShuffleboardLayout serializer =
+        tab.getLayout("Serializer", BuiltInLayouts.kList).withPosition(2, 0).withSize(2, 4);
+
+    serializer.addDouble("Serializer Speed (mps)", this::getSerializerTangentialSpeed);
+    serializer.addDouble("Serializer Current (A)", () -> serializerMotorValues.currentAmps);
+
+    ShuffleboardLayout flywheel =
+        tab.getLayout("Flywheel", BuiltInLayouts.kList).withPosition(4, 0).withSize(2, 4);
+
+    flywheel.addDouble("Flywheel Speed (mps)", this::getFlywheelTangentialSpeed);
+    flywheel.addDouble("Flywheel Current (A)", () -> flywheelMotorValues.currentAmps);
   }
 }

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

@@ -1,31 +1,50 @@
 package frc.robot.shooter;
 
+import edu.wpi.first.math.util.Units;
 import frc.lib.CAN;
 
 /** Constants for the shooter subsystem. */
 public class ShooterConstants {
 
   /** Constants for the sensors used in the shooter subsystem. */
   public static class SensorConstants {
-    /** The beam break sensor's DIO port number. */
+    /** Beam break sensor's DIO port number. */
     public static final int BEAM_BREAK_PORT = 0; // TODO
   }
 
   /** Constants for the serializer motor used in the shooter subsystem. */
   public static class SerializerConstants {
-    /** The serializer motor controller's CAN identifier. */
+    /** Serializer motor controller's CAN identifier. */
     public static final CAN ID = new CAN(0); // TODO
 
     /** If true, invert the serializer motor controller's direction. */
     public static final boolean IS_INVERTED = false; // TODO
+
+    /** Gearing between the serializer motor and the serializer wheel. */
+    public static final double GEARING = 1.0; // TODO
+
+    /** Moment of interia of the serializer wheel in joules kilograms meters squared. */
+    public static final double MOI = 0.000125; // TODO
+
+    /** Radius of the serializer wheel in meters. */
+    public static final double RADIUS = 0.5 * Units.inchesToMeters(4.0);
   }
 
   /** Constants for the flywheel motor used in the shooter subsystem. */
   public static class FlywheelConstants {
-    /** The flywheel motor controller's CAN identifier. */
+    /** Flywheel motor controller's CAN identifier. */
     public static final CAN ID = new CAN(0); // TODO
 
     /** If true, invert the flywheel motor controller's direction. */
     public static final boolean IS_INVERTED = false; // TODO
+
+    /** Gearing between the flywheel motor and the flywheel wheel. */
+    public static final double GEARING = 1.0; // TODO
+
+    /** Moment of interia of the flywheel wheel in joules kilograms meters squared. */
+    public static final double MOI = 0.000125; // TODO
+
+    /** Radius of the flywheel wheel in meters. */
+    public static final double RADIUS = 0.5 * Units.inchesToMeters(4.0);
   }
 }

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

@@ -0,0 +1,40 @@
+package frc.robot.shooter;
+
+import frc.robot.Robot;
+
+/** Helper class for creating hardware for the shooter subsystem. */
+public class ShooterFactory {
+
+  /**
+   * Creates a beam break sensor.
+   *
+   * @return a beam break sensor.
+   */
+  public static BeamBreakSensorIO createBeamBreakSensor() {
+    if (Robot.isReal()) return new BeamBreakSensorIOSim(); // TODO
+
+    return new BeamBreakSensorIOSim();
+  }
+
+  /**
+   * Creates a serializer motor.
+   *
+   * @return a serializer motor.
+   */
+  public static SerializerMotorIO createSerializerMotor() {
+    if (Robot.isReal()) return new SerializerMotorIOSim(); // TODO
+
+    return new SerializerMotorIOSim();
+  }
+
+  /**
+   * Creates a flywheel motor.
+   *
+   * @return a flywheel motor.
+   */
+  public static FlywheelMotorIO createFlywheelMotor() {
+    if (Robot.isReal()) return new FlywheelMotorIOSim(); // TODO
+
+    return new FlywheelMotorIOSim();
+  }
+}