From 06e493aa2d8e82ad1e419035b14fcc32d2ad9c6f Mon Sep 17 00:00:00 2001
From: KeshavAnandCode <keshavanandofficial@gmail.com>
Date: Sat, 1 Nov 2025 12:03:04 -0500
Subject: [PATCH] Added shooter syubsystem

---
 .../ftc/teamcode/subsystems/Shooter.java      | 183 ++++++++++++++++++
 1 file changed, 183 insertions(+)
 create mode 100644 TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java

diff --git a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
new file mode 100644
index 0000000..a466bd0
--- /dev/null
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/subsystems/Shooter.java
@@ -0,0 +1,183 @@
+package org.firstinspires.ftc.teamcode.subsystems;
+
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.arcrobotics.ftclib.controller.PIDController;
+import com.qualcomm.robotcore.hardware.DcMotor;
+import com.qualcomm.robotcore.hardware.DcMotorEx;
+import com.qualcomm.robotcore.hardware.PIDCoefficients;
+import com.qualcomm.robotcore.hardware.PIDFCoefficients;
+import com.qualcomm.robotcore.hardware.Servo;
+
+import org.firstinspires.ftc.robotcore.external.navigation.AngleUnit;
+import org.firstinspires.ftc.robotcore.external.navigation.CurrentUnit;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.subsystems.Subsystem;
+
+import java.util.Objects;
+
+public class Shooter implements Subsystem {
+    private final DcMotorEx fly1;
+    private final DcMotorEx fly2;
+    private final Servo hoodServo;
+
+    private final MultipleTelemetry telemetry;
+
+    private boolean telemetryOn = false;
+
+    private double manualPower = 0.0;
+    private double servoPos = 0.0;
+    private double velocity = 0.0;
+    private double posPower = 0.0;
+
+    private int targetPosition = 0;
+
+    private double p = 0.0003, i = 0, d = 0.00001;
+
+    private PIDController controller;
+
+
+
+
+
+    private String Mode = "MANUAL";
+
+    public Shooter(Robot robot, MultipleTelemetry TELE) {
+        this.fly1 = robot.shooter1;
+        this.fly2 = robot.shooter2;
+        this.telemetry = TELE;
+        this.hoodServo = robot.hood;
+
+        // Reset encoders
+        fly1.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+        fly2.setMode(DcMotor.RunMode.STOP_AND_RESET_ENCODER);
+
+        fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+        fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+
+        controller = new PIDController(p, i, d);
+
+
+        controller.setPID(p, i, d);
+
+
+
+
+
+    }
+
+    public void telemetryUpdate() {
+
+        // Telemetry
+
+        telemetry.addData("Mode", Mode);
+        telemetry.addData("ManualPower", manualPower);
+        telemetry.addData("Position", getPosition());
+        telemetry.addData("TargetPosition", targetPosition);
+        telemetry.addData("Velocity", getVelocity());
+        telemetry.addData("TargetVelocity", velocity);
+        telemetry.addData("ServoPos", getServoPosition());
+        telemetry.addData("PID Coefficients", "P: %.6f, I: %.6f, D: %.6f", p, i, d);
+        telemetry.addData("Current Fly 1", fly1.getCurrent(CurrentUnit.AMPS));
+        telemetry.addData("Current Fly 2", fly2.getCurrent(CurrentUnit.AMPS));
+
+    }
+
+    public double getServoPosition() {
+        return (hoodServo.getPosition());
+    }
+
+    public void setServoPosition(double pos) {servoPos = pos;}
+
+    public double getVelocity() {
+        return ((double) ((fly1.getVelocity(AngleUnit.DEGREES) + fly2.getVelocity(AngleUnit.DEGREES)) /2));
+    }
+
+    public void setVelocity(double vel){velocity = vel;}
+
+
+
+    public void setPosPower(double power){posPower = power;}
+
+
+    public void setTargetPosition(int pos){
+        targetPosition = pos;
+    }
+
+    public void setTolerance(int tolerance){
+        controller.setTolerance(tolerance);
+    }
+
+    public void setControllerCoefficients(double kp, double ki, double kd){
+        p = kp;
+        i = ki;
+        d = kd;
+        controller.setPID(p, i, d);
+
+    }
+
+    public PIDCoefficients  getControllerCoefficients(){
+
+        return new PIDCoefficients(p, i, d);
+
+    }
+
+
+
+
+
+
+
+    public void setManualPower(double power){manualPower = power;}
+
+    public String getMode(){return Mode;}
+
+    public double getPosition(){
+        return ((double) ((fly1.getCurrentPosition() + fly2.getCurrentPosition()) /2));
+    }
+
+    public void setMode(String mode){ Mode = mode;}
+
+    public void setTelemetryOn(boolean state){telemetryOn = state;}
+
+    @Override
+    public void update() {
+
+        if (Objects.equals(Mode, "MANUAL")){
+            fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+
+            fly1.setPower(manualPower);
+            fly2.setPower(manualPower);
+        }
+
+        else if (Objects.equals(Mode, "VEL")){
+
+            fly1.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+            fly2.setMode(DcMotor.RunMode.RUN_USING_ENCODER);
+
+
+            fly1.setVelocity(velocity, AngleUnit.DEGREES);
+            fly2.setVelocity(velocity, AngleUnit.DEGREES);
+        }
+
+        else if (Objects.equals(Mode, "POS")){
+
+
+            double powPID = controller.calculate(getPosition(), targetPosition);
+
+
+
+            fly1.setPower(powPID);
+            fly2.setPower(powPID);
+        }
+
+        hoodServo.setPosition(servoPos);
+
+        if (telemetryOn) {telemetryUpdate();}
+
+
+
+    }
+}