intake -> neo

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

@@ -23,16 +23,10 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.robot.commands.DriveCommands;
 import frc.robot.commands.FeedForwardCharacterization;
-import frc.robot.subsystems.drive.Drive;
-import frc.robot.subsystems.drive.GyroIO;
-import frc.robot.subsystems.drive.GyroIOPigeon2;
-import frc.robot.subsystems.drive.ModuleIO;
-import frc.robot.subsystems.drive.ModuleIOSim;
-import frc.robot.subsystems.drive.ModuleIOTalonFX;
-import frc.robot.subsystems.intake.Intake;
-import frc.robot.subsystems.intake.IntakeIO;
-import frc.robot.subsystems.intake.IntakeIOReal;
-import frc.robot.subsystems.intake.IntakeIOSim;
+import frc.robot.subsystems.drive.*;
+import frc.robot.subsystems.intake.*;
+import frc.robot.subsystems.pivot.*;
+import frc.robot.subsystems.shooter.*;
 import org.littletonrobotics.junction.networktables.LoggedDashboardChooser;
 
 /**
@@ -45,6 +39,8 @@ public class RobotContainer {
   // Subsystems
   private final Drive drive;
   private final Intake intake;
+  private final Pivot pivot;
+  private final Shooter shooter;
 
   // Controller
   private final CommandXboxController driver = new CommandXboxController(0);
@@ -66,6 +62,8 @@ public RobotContainer() {
                 new ModuleIOTalonFX(3));
 
         intake = new Intake(new IntakeIOReal());
+        pivot = new Pivot(new PivotIOReal());
+        shooter = new Shooter(new ShooterIOReal());
 
         break;
 
@@ -80,6 +78,8 @@ public RobotContainer() {
                 new ModuleIOSim());
 
         intake = new Intake(new IntakeIOSim());
+        pivot = new Pivot(new PivotIOSim());
+        shooter = new Shooter(new ShooterIOSim());
 
         break;
 
@@ -94,6 +94,8 @@ public RobotContainer() {
                 new ModuleIO() {});
 
         intake = new Intake(new IntakeIO() {});
+        pivot = new Pivot(new PivotIO() {});
+        shooter = new Shooter(new ShooterIO() {});
 
         break;
     }

src/main/java/frc/robot/subsystems/drive/Drive.java

@@ -38,8 +38,8 @@
 
 public class Drive extends SubsystemBase {
   private static final double MAX_LINEAR_SPEED = Units.feetToMeters(14.5);
-  private static final double TRACK_WIDTH_X = Units.inchesToMeters(25.0);
-  private static final double TRACK_WIDTH_Y = Units.inchesToMeters(25.0);
+  private static final double TRACK_WIDTH_X = Units.inchesToMeters(22.75);
+  private static final double TRACK_WIDTH_Y = Units.inchesToMeters(18.75);
   private static final double DRIVE_BASE_RADIUS =
       Math.hypot(TRACK_WIDTH_X / 2.0, TRACK_WIDTH_Y / 2.0);
   private static final double MAX_ANGULAR_SPEED = MAX_LINEAR_SPEED / DRIVE_BASE_RADIUS;

src/main/java/frc/robot/subsystems/drive/GyroIOPigeon2.java

@@ -24,18 +24,18 @@
 
 /** IO implementation for Pigeon2 */
 public class GyroIOPigeon2 implements GyroIO {
-  private final Pigeon2 pigeo = new Pigeon2(20);
-  private final StatusSignal<Double> yaw = pigeo.getYaw();
+  private final Pigeon2 pigeon = new Pigeon2(20);
+  private final StatusSignal<Double> yaw = pigeon.getYaw();
   private final Queue<Double> yawPositionQueue;
-  private final StatusSignal<Double> yawVelocity = pigeo.getAngularVelocityZWorld();
+  private final StatusSignal<Double> yawVelocity = pigeon.getAngularVelocityZWorld();
 
   public GyroIOPigeon2(boolean phoenixDrive) {
-    pigeo.getConfigurator().apply(new Pigeon2Configuration());
-    pigeo.getConfigurator().setYaw(0.0);
+    pigeon.getConfigurator().apply(new Pigeon2Configuration());
+    pigeon.getConfigurator().setYaw(0.0);
     yaw.setUpdateFrequency(Module.ODOMETRY_FREQUENCY);
     yawVelocity.setUpdateFrequency(100.0);
-    pigeo.optimizeBusUtilization();
-    yawPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(pigeo, pigeo.getYaw());
+    pigeon.optimizeBusUtilization();
+    yawPositionQueue = PhoenixOdometryThread.getInstance().registerSignal(pigeon, pigeon.getYaw());
   }
 
   @Override

src/main/java/frc/robot/subsystems/intake/IntakeIOReal.java

@@ -1,26 +1,20 @@
 package frc.robot.subsystems.intake;
 
-import com.ctre.phoenix6.BaseStatusSignal;
-import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.hardware.TalonFX;
+import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkLowLevel.MotorType;
+
 import frc.robot.Constants.IntakeConstants;
 
 public class IntakeIOReal implements IntakeIO {
-  private final TalonFX motor;
-  private final StatusSignal<Double> current;
+  private final CANSparkMax motor;
 
   public IntakeIOReal() {
-    motor = new TalonFX(IntakeConstants.intakeCANId);
-    current = motor.getStatorCurrent();
-
-    BaseStatusSignal.setUpdateFrequencyForAll(20.0, current);
-    motor.optimizeBusUtilization();
+    motor = new CANSparkMax(IntakeConstants.intakeCANId, MotorType.kBrushless);
   }
 
   @Override
   public void updateInputs(IntakeIO.IntakeIOInputs inputs) {
-    BaseStatusSignal.refreshAll(current);
-    inputs.current = current.getValue();
+    inputs.current = motor.getOutputCurrent();
   }
 
   @Override

src/main/java/frc/robot/subsystems/pivot/PivotIOSim.java

@@ -0,0 +1,5 @@
+package frc.robot.subsystems.pivot;
+
+public class PivotIOSim implements PivotIO {
+  // todo
+}

src/main/java/frc/robot/subsystems/shooter/ShooterIOSim.java

@@ -0,0 +1,5 @@
+package frc.robot.subsystems.shooter;
+
+public class ShooterIOSim implements ShooterIO {
+  //todo
+}