Merge pull request #38 from Team6083/CoralShooter-PowerDistribution

Coral shooter power distribution
Team6083 · Feb 12, 2025 · cae27f8 · cae27f8
2 parents d251bfe + 55d7433
commit cae27f8
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Showing 2 changed files with 15 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -9,15 +9,18 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.Commands;
+import frc.robot.lib.PowerDistribution;
 import frc.robot.subsystems.CoralShooterSubsystem;
 
 
 public class RobotContainer {
   private final CoralShooterSubsystem coralShooterSubsystem;
   private final SendableChooser<Command> autChooser;
+  private final PowerDistribution powerDistribution;
 
   public RobotContainer() {
-    coralShooterSubsystem = new CoralShooterSubsystem();
+    powerDistribution = new PowerDistribution();
+    coralShooterSubsystem = new CoralShooterSubsystem(powerDistribution);
     autChooser = AutoBuilder.buildAutoChooser();
     autChooser.setDefaultOption("DoNothing", Commands.none());
     SmartDashboard.putData("CoralShooterSubsystem", coralShooterSubsystem);

diff --git a/src/main/java/frc/robot/subsystems/CoralShooterSubsystem.java b/src/main/java/frc/robot/subsystems/CoralShooterSubsystem.java
@@ -12,17 +12,22 @@
 import frc.robot.Constants.CoralShooterConstant;
 import frc.robot.lib.DistanceSensor;
 import frc.robot.lib.DistanceSensorInterface;
+import frc.robot.lib.PowerDistribution;
 
 public class CoralShooterSubsystem extends SubsystemBase {
   /** Creates a new CoralShooterSubsystem. */
 
   private VictorSPX coralShooterLeftMotor;
   private VictorSPX coralShooterRightMotor;
   private DistanceSensorInterface distanceSensor;
+  private PowerDistribution powerDistribution;
 
-  public CoralShooterSubsystem() {
+
+  public CoralShooterSubsystem(PowerDistribution powerDistribution) {
+    this.powerDistribution = powerDistribution;
     coralShooterLeftMotor = new VictorSPX(CoralShooterConstant.kShooterLeftMotorChannel);
     coralShooterRightMotor = new VictorSPX(CoralShooterConstant.kShooterRightMotorChannel);
+
     distanceSensor = new DistanceSensor(Port.kOnboard);
     coralShooterRightMotor.setInverted(CoralShooterConstant.kCoralShooterMotorInverted);
     coralShooterLeftMotor.setInverted(CoralShooterConstant.kCoralShooterMotorInverted);
@@ -33,7 +38,12 @@ private void setMotorSpeed(double speed) {
     coralShooterRightMotor.set(VictorSPXControlMode.PercentOutput, -speed);
   }
 
+
   public void coralShooterFastOn() { // Motor on Fast
+    if (powerDistribution.isCoralShooterOverCurrent()) {
+      setMotorSpeed(0);
+      return;
+    }
     setMotorSpeed(CoralShooterConstant.kShooterMotorFastSpeed);
   }