feat(shooter): Implement working serializer simulation.

simgui-ds.json

@@ -88,5 +88,12 @@
       "buttonCount": 0,
       "povCount": 0
     }
+  ],
+  "robotJoysticks": [
+    {},
+    {
+      "guid": "78696e70757401000000000000000000",
+      "useGamepad": true
+    }
   ]
 }

src/main/java/frc/robot/RobotContainer.java

@@ -28,6 +28,8 @@ private void initializeShuffleboards() {
 
   private void configureBindings() {
     // TODO
+    operator.rightBumper().whileTrue(shooter.serialize()).onFalse(shooter.stopSerializing());
+    operator.rightTrigger().whileTrue(shooter.smartSerialize()).onFalse(shooter.stopSerializing());
   }
 
   public Command getAutonomousCommand() {

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

@@ -16,6 +16,7 @@ public class FlywheelMotorIOSim implements FlywheelMotorIO {
 
   @Override
   public void update(FlywheelMotorIOValues values) {
+    flywheelSim.update(0.02);
     values.angularVelocityRotationsPerSecond = flywheelSim.getAngularVelocityRPM() / 60.0;
     values.currentAmps = flywheelSim.getCurrentDrawAmps();
   }

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

@@ -16,6 +16,7 @@ public class SerializerMotorIOSim implements SerializerMotorIO {
 
   @Override
   public void update(SerializerMotorIOValues values) {
+    serializerSim.update(0.02);
     values.angularVelocityRotationsPerSecond = serializerSim.getAngularVelocityRPM() / 60.0;
     values.currentAmps = serializerSim.getCurrentDrawAmps();
   }

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

@@ -3,6 +3,8 @@
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInLayouts;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardLayout;
 import edu.wpi.first.wpilibj.shuffleboard.ShuffleboardTab;
+import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import frc.lib.Subsystem;
 import frc.robot.shooter.BeamBreakSensorIO.BeamBreakSensorIOValues;
 import frc.robot.shooter.FlywheelMotorIO.FlywheelMotorIOValues;
@@ -61,6 +63,24 @@ public void periodic() {
     flywheelMotor.update(flywheelMotorValues);
   }
 
+  /**
+   * Returns true if the shooter is holding a note.
+   *
+   * @return true if the shooter is holding a note.
+   */
+  private boolean isHoldingNote() {
+    return beamBreakSensorValues.isBroken; // TODO debounce / filter?
+  }
+
+  /**
+   * Returns true if the shooter is not holding a note.
+   *
+   * @return true if the shooter is not holding a note.
+   */
+  private boolean isNotHoldingNote() {
+    return !isHoldingNote();
+  }
+
   /**
    * Calculates the tangential speed of the serializer in meters per second.
    *
@@ -84,7 +104,7 @@ public void addToShuffleboard(ShuffleboardTab tab) {
     ShuffleboardLayout sensors =
         tab.getLayout("Sensors", BuiltInLayouts.kList).withPosition(0, 0).withSize(2, 4);
 
-    sensors.addBoolean("Beam Break Sensor Is Broken?", () -> beamBreakSensorValues.isBroken);
+    sensors.addBoolean("Is Holding Note?", this::isHoldingNote);
 
     ShuffleboardLayout serializer =
         tab.getLayout("Serializer", BuiltInLayouts.kList).withPosition(2, 0).withSize(2, 4);
@@ -98,4 +118,19 @@ public void addToShuffleboard(ShuffleboardTab tab) {
     flywheel.addDouble("Flywheel Speed (mps)", this::getFlywheelTangentialSpeed);
     flywheel.addDouble("Flywheel Current (A)", () -> flywheelMotorValues.currentAmps);
   }
+
+  public Command serialize() {
+    return Commands.run(() -> serializerMotor.setVoltage(4));
+  }
+
+  public Command stopSerializing() {
+    return Commands.runOnce(() -> serializerMotor.setVoltage(0));
+  }
+
+  public Command smartSerialize() {
+    return serialize()
+        .until(this::isNotHoldingNote)
+        .unless(this::isNotHoldingNote)
+        .andThen(stopSerializing());
+  }
 }