subsystem written, add constants and motor configs

Author: Zixi52

src/main/java/com/stuypulse/robot/subsystems/indexer/Indexer.java

@@ -0,0 +1,53 @@
+package com.stuypulse.robot.subsystems.indexer;
+
+import com.stuypulse.robot.Robot;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+public abstract class Indexer extends SubsystemBase {
+    
+    private static final Indexer instance;
+
+    static {
+        if (Robot.isReal()) {
+            instance = new IndexerImpl();
+        } else {
+            instance = new IndexerImpl(); // update
+        }
+    }
+
+    public static Indexer getInstance() {
+        return instance;
+    }
+
+    public enum IndexerState {
+        INTAKE(1),
+        OUTTAKE(-1),
+        STANDBY(0);
+
+        private double speed;
+
+        private IndexerState(double speed) {
+            this.speed = speed;
+        }
+        public double getSpeed() {
+            return speed;
+        }
+    }
+
+    private IndexerState state;
+
+    public Indexer() {
+        this.state = IndexerState.STANDBY;
+    }
+
+    public IndexerState getState() {
+        return state;
+    }
+
+    public void setState(IndexerState state) {
+        this.state = state;
+    }
+
+    public abstract boolean coralInPlace();
+}

src/main/java/com/stuypulse/robot/subsystems/indexer/IndexerImpl.java

@@ -0,0 +1,52 @@
+package com.stuypulse.robot.subsystems.indexer;
+
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.stuypulse.robot.constants.Settings;
+import com.stuypulse.stuylib.streams.booleans.BStream;
+import com.stuypulse.stuylib.streams.booleans.filters.BDebounce;
+
+import edu.wpi.first.wpilibj.DigitalInput;
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+
+public class IndexerImpl extends Indexer {
+    
+    private final TalonFX leftMotor;
+    private final TalonFX rightMotor;
+    private final DigitalInput frontBeamBreak;
+    private final DigitalInput backBeamBreak;
+    private final BStream passedFrontBeam;
+    private final BStream passedBackBeam;
+    
+    public IndexerImpl() {
+
+        leftMotor = new TalonFX(0,"");
+        rightMotor = new TalonFX(1, "");
+        // motor configs go here
+        frontBeamBreak = new DigitalInput(0);
+        backBeamBreak = new DigitalInput(1);
+
+        passedFrontBeam = BStream.create(frontBeamBreak).not()
+                    .filtered(new BDebounce.Both(0.01));
+        passedBackBeam = BStream.create(backBeamBreak).not()
+                    .filtered(new BDebounce.Both(0.01));
+    }
+
+    public boolean coralInPlace() {
+        if (passedFrontBeam.get() && passedBackBeam.get()) {
+            return true;
+        }
+        return false;
+    }
+
+    @Override
+    public void periodic() {
+        super.periodic();
+
+        leftMotor.set(getState().getSpeed());
+        rightMotor.set(getState().getSpeed());
+
+        SmartDashboard.putBoolean("Shooter/Coral in Place", coralInPlace());
+
+        
+    }
+}