From 967b5ff335080198ed061e9ce45a530637dc6458 Mon Sep 17 00:00:00 2001
From: John Joseph <jpothen8@gmail.com>
Date: Thu, 1 Feb 2024 10:18:01 -0500
Subject: [PATCH] Add encoders

---
 .../robot2024/subsystems/pivot/Pivot.kt        |  8 +++++---
 .../robot2024/subsystems/shooter/Shooter.kt    | 18 ++++++++++++------
 2 files changed, 17 insertions(+), 9 deletions(-)

diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt
index 25cc040..2c63432 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/pivot/Pivot.kt
@@ -104,9 +104,11 @@ open class Pivot(
       val motor = createSparkMax(
         "Shooter Right Motor",
         PivotConstants.MOTOR_ID,
-        NEOEncoder.creator(
-          PivotConstants.GEARING,
-          PivotConstants.UPR
+        encCreator = AbsoluteEncoder.creator(
+          PivotConstants.ENC_CHANNEL,
+          PivotConstants.OFFSET,
+          PivotConstants.UPR,
+          PivotConstants.ENC_INVERTED
         ),
         inverted = PivotConstants.INVERTED,
         currentLimit = PivotConstants.CURRENT_LIM,
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt
index 907c6a0..865ab70 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/Shooter.kt
@@ -32,10 +32,10 @@ open class Shooter(
 ) : SubsystemBase() {
 
   open val rightVelocity: Supplier<Double> =
-    Supplier { rightMotor.velocity * ShooterConstants.UPR * ShooterConstants.GEARING }
+    Supplier { rightMotor.velocity }
 
   open val leftVelocity: Supplier<Double> =
-    Supplier { leftMotor.velocity * ShooterConstants.UPR * ShooterConstants.GEARING }
+    Supplier { leftMotor.velocity }
 
   init {
     this.defaultCommand = updateOnly()
@@ -119,9 +119,12 @@ open class Shooter(
       val rightMotor = createSparkMax(
         "Shooter Right Motor",
         ShooterConstants.RIGHT_MOTOR_ID,
-        NEOEncoder.creator(
+        encCreator = QuadEncoder.creator(
+          Encoder(ShooterConstants.RIGHT_CHANNEL_A, ShooterConstants.RIGHT_CHANNEL_B),
+          ShooterConstants.CPR,
+          ShooterConstants.UPR,
           ShooterConstants.GEARING,
-          ShooterConstants.UPR
+          ShooterConstants.RIGHT_ENCODER_INVERTED
         ),
         inverted = ShooterConstants.RIGHT_MOTOR_INVERTED,
         currentLimit = ShooterConstants.CURRENT_LIMIT,
@@ -130,9 +133,12 @@ open class Shooter(
       val leftMotor = createSparkMax(
         "Shooter Right Motor",
         ShooterConstants.LEFT_MOTOR_ID,
-        NEOEncoder.creator(
+        encCreator = QuadEncoder.creator(
+          Encoder(ShooterConstants.LEFT_CHANNEL_A, ShooterConstants.LEFT_CHANNEL_B),
+          ShooterConstants.CPR,
+          ShooterConstants.UPR,
           ShooterConstants.GEARING,
-          ShooterConstants.UPR
+          ShooterConstants.LEFT_ENCODER_INVERTED
         ),
         inverted = ShooterConstants.LEFT_MOTOR_INVERTED,
         currentLimit = ShooterConstants.CURRENT_LIMIT,