shooter_subsystem.h

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#pragma once
 
#include <argos_lib/config/config_types.h>
#include <ctre/phoenix/motorcontrol/can/TalonSRX.h>
#include <frc2/command/SubsystemBase.h>
 
#include <ctre/phoenix6/TalonFX.hpp>
 
class ShooterSubsystem : public frc2::SubsystemBase {
 public:
  explicit ShooterSubsystem(const argos_lib::RobotInstance robotInstance);
 
  void Periodic() override;
 
  void Shoot(double speed);
 
  void Shoot();
 
  void StopShoot();
 
  void Feed(double speed, bool force = false);
 
  void Disable();
 
  void ShooterGoToSpeed(units::turns_per_second_t speed);
 
  [[nodiscard]] bool IsNotePresent();
 
  bool ReadyToShoot();
 
  void NoteDetectionOverride(bool override);
 
  void SetTrapMode(bool trapMode);
 
  void SetAmpMode(bool ampMode);
 
  [[nodiscard]] bool ShooterAtSpeed();
 
  void SetFeedingShotActive(bool val) { m_isFeederShotActive = val; }
  [[nodiscard]] bool IsFeedingShotActive() { return m_isFeederShotActive; }
 
 private:
  ctre::phoenix6::hardware::TalonFX m_primaryMotor;
  ctre::phoenix6::hardware::TalonFX m_secondaryMotor;
  ctre::phoenix::motorcontrol::can::TalonSRX m_feedMotor;
  argos_lib::RobotInstance m_robotInstance;
  ctre::phoenix6::controls::VelocityVoltage m_velocityControl;
  bool m_trapMode;
  bool m_ampMode;
  bool m_isFeederShotActive;  
};
// Components (e.g. motor controllers and sensors) should generally be
// declared private and exposed only through public methods.