From c38a0e170210159e8e7d6d00a8236bdf44b282f0 Mon Sep 17 00:00:00 2001
From: Jeffery <jefferydoudou@gmail.com>
Date: Thu, 16 May 2024 14:54:32 -0400
Subject: [PATCH] updated characterization routine for krakens

---
 src/main/kotlin/frc/team449/robot2024/Robot.kt         |  4 ++--
 .../team449/robot2024/subsystems/ControllerBindings.kt |  9 +++------
 .../robot2024/subsystems/shooter/SpinShooterKraken.kt  | 10 +++++++++-
 3 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/src/main/kotlin/frc/team449/robot2024/Robot.kt b/src/main/kotlin/frc/team449/robot2024/Robot.kt
index 6ce4b21..30d44cc 100644
--- a/src/main/kotlin/frc/team449/robot2024/Robot.kt
+++ b/src/main/kotlin/frc/team449/robot2024/Robot.kt
@@ -12,7 +12,7 @@ import frc.team449.robot2024.subsystems.Climber.Companion.createClimber
 import frc.team449.robot2024.subsystems.Feeder.Companion.createFeeder
 import frc.team449.robot2024.subsystems.Undertaker.Companion.createUndertaker
 import frc.team449.robot2024.subsystems.pivot.Pivot.Companion.createPivot
-import frc.team449.robot2024.subsystems.shooter.SpinShooter.Companion.createSpinShooter
+import frc.team449.robot2024.subsystems.shooter.SpinShooterKraken.Companion.createKrakenSpinShooter
 import frc.team449.system.AHRS
 import frc.team449.system.light.Light.Companion.createLight
 import monologue.Annotations.Log
@@ -49,7 +49,7 @@ class Robot : RobotBase(), Logged {
   val pivot = createPivot()
 
   @Log.NT
-  val shooter = createSpinShooter(this)
+  val shooter = createKrakenSpinShooter(this)
 
   @Log.NT
   val feeder = createFeeder()
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
index 7fa6193..e000358 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/ControllerBindings.kt
@@ -1,5 +1,6 @@
 package frc.team449.robot2024.subsystems
 
+import com.ctre.phoenix6.SignalLogger
 import edu.wpi.first.math.MathUtil
 import edu.wpi.first.math.geometry.Rotation2d
 import edu.wpi.first.units.Measure
@@ -46,13 +47,9 @@ class ControllerBindings(
       Volts.of(0.5).per(Seconds.of(1.0)),
       Volts.of(3.0),
       Seconds.of(10.0)
-    ),
+    ) { state -> SignalLogger.writeString("state", state.toString()) },
     Mechanism(
-      { voltage: Measure<Voltage> ->
-        run {
-          robot.shooter.setVoltage(voltage.`in`(Volts))
-        }
-      },
+      { voltage: Measure<Voltage> -> run { robot.shooter.setVoltage(voltage.`in`(Volts)) } },
       null,
       robot.shooter,
       "shooter"
diff --git a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooterKraken.kt b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooterKraken.kt
index f297610..c21a7dc 100644
--- a/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooterKraken.kt
+++ b/src/main/kotlin/frc/team449/robot2024/subsystems/shooter/SpinShooterKraken.kt
@@ -1,5 +1,6 @@
 package frc.team449.robot2024.subsystems.shooter
 
+import com.ctre.phoenix6.SignalLogger
 import com.ctre.phoenix6.configs.TalonFXConfiguration
 import com.ctre.phoenix6.controls.CoastOut
 import com.ctre.phoenix6.controls.VelocityVoltage
@@ -44,6 +45,13 @@ open class SpinShooterKraken(
   private val rightRateLimiter = SlewRateLimiter(SpinShooterKrakenConstants.BRAKE_RATE_LIMIT)
 
   init {
+    name = "Kraken Spin Shooter"
+
+    leftMotor.optimizeBusUtilization()
+    rightMotor.optimizeBusUtilization()
+    SignalLogger.setPath("/media/sda1/ctre-logs/")
+    SignalLogger.start()
+
     this.defaultCommand = coast()
   }
 
@@ -516,7 +524,7 @@ open class SpinShooterKraken(
   }
 
   companion object {
-    fun createSpinShooter(robot: Robot): SpinShooterKraken {
+    fun createKrakenSpinShooter(robot: Robot): SpinShooterKraken {
       val rightMotor = TalonFX(SpinShooterKrakenConstants.RIGHT_MOTOR_ID)
       val rightConfig = TalonFXConfiguration()
       rightConfig.CurrentLimits.StatorCurrentLimitEnable = true