Refactor FIles

- Combined lifter subsystems into one
- Renamed shooter command & subsystems to Flywheel

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

@@ -26,9 +26,8 @@
 import frc.robot.commands.ArmCommand;
 import frc.robot.commands.BalanceCommand;
 import frc.robot.commands.DefaultDrive;
-import frc.robot.commands.LeftLifterCommand;
-import frc.robot.commands.RightLifterCommand;
-import frc.robot.commands.ShooterCommand;
+import frc.robot.commands.FlywheelCommand;
+import frc.robot.commands.LifterCommand;
 import frc.robot.commands.StraightCommand;
 import frc.robot.commands.UltrasonicShooterCommand;
 import frc.robot.commands.auto.AimAmpCommand;
@@ -38,9 +37,8 @@
 import frc.robot.subsystems.CameraSubsystem;
 import frc.robot.subsystems.DriveSubsystem;
 import frc.robot.subsystems.DriverCameraSubsystem;
-import frc.robot.subsystems.LeftLifterSubsystem;
-import frc.robot.subsystems.RightLifterSubsystem;
-import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.FlywheelSubsystem;
+import frc.robot.subsystems.LifterSubsystem;
 import frc.robot.subsystems.UltrasonicSubsystem;
 
 /**
@@ -68,9 +66,11 @@ public class RobotContainer {
   private final DriveSubsystem m_driveSubsystem = new DriveSubsystem();
   private final CameraSubsystem m_cameraSubsystem = new CameraSubsystem(m_driveSubsystem);
   private final ArmSubsystem m_armSubsystem = new ArmSubsystem(m_shooterState);
-  private final ShooterSubsystem m_shooterSubsytem = new ShooterSubsystem();
-  private final LeftLifterSubsystem m_leftLifterSubsystem = new LeftLifterSubsystem();
-  private final RightLifterSubsystem m_rightLifterSubsystem = new RightLifterSubsystem();
+  private final FlywheelSubsystem m_shooterSubsytem = new FlywheelSubsystem();
+  private final LifterSubsystem m_leftLifterSubsystem =
+      new LifterSubsystem(Constants.CANConstants.MOTORLIFTERLEFTID);
+  private final LifterSubsystem m_rightLifterSubsystem =
+      new LifterSubsystem(Constants.CANConstants.MOTORLIFTERRIGHTID);
   private final DriverCameraSubsystem m_DriverCameraSubsystem = new DriverCameraSubsystem();
   // The robots commands are defined here..
   // private final ExampleCommand m_autoCommand = new ExampleCommand(m_exampleSubsystem);
@@ -85,12 +85,10 @@ public class RobotContainer {
       new UltrasonicShooterCommand(m_ultrasonicShooterSubsystem, m_shooterState);
   private final ArmCommand m_armCommand =
       new ArmCommand(m_armSubsystem, m_shooterState, this::GetFlightStickY);
-  private final ShooterCommand m_shooterCommand =
-      new ShooterCommand(m_shooterSubsytem, m_shooterState);
-  private final LeftLifterCommand m_LeftLifterCommand =
-      new LeftLifterCommand(m_leftLifterSubsystem);
-  private final RightLifterCommand m_RightLifterCommand =
-      new RightLifterCommand(m_rightLifterSubsystem);
+  private final FlywheelCommand m_shooterCommand =
+      new FlywheelCommand(m_shooterSubsytem, m_shooterState);
+  private final LifterCommand m_LeftLifterCommand = new LifterCommand(m_leftLifterSubsystem);
+  private final LifterCommand m_RightLifterCommand = new LifterCommand(m_rightLifterSubsystem);
 
   // these commands are used by autonomous only
   private final AimAmpCommand m_AimAmpCommand = new AimAmpCommand(m_armSubsystem, m_shooterState);

src/main/java/frc/robot/commands/ShooterCommand.java → src/main/java/frc/robot/commands/FlywheelCommand.java

@@ -6,12 +6,12 @@
 
 import edu.wpi.first.wpilibj2.command.Command;
 import frc.robot.ShooterState;
-import frc.robot.subsystems.ShooterSubsystem;
+import frc.robot.subsystems.FlywheelSubsystem;
 
 /** A Shooter Command that uses an example subsystem. */
-public class ShooterCommand extends Command {
+public class FlywheelCommand extends Command {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final ShooterSubsystem m_shooterSubsystem;
+  private final FlywheelSubsystem m_shooterSubsystem;
 
   private final ShooterState m_shooterState;
 
@@ -20,7 +20,7 @@ public class ShooterCommand extends Command {
    *
    * @param subsystem The subsystem used by this command.
    */
-  public ShooterCommand(ShooterSubsystem s_subsystem, ShooterState shooterState) {
+  public FlywheelCommand(FlywheelSubsystem s_subsystem, ShooterState shooterState) {
     m_shooterSubsystem = s_subsystem;
     m_shooterState = shooterState;
     // Use addRequirements() here to declare subsystem dependencies.

src/main/java/frc/robot/commands/LeftLifterCommand.java → src/main/java/frc/robot/commands/LifterCommand.java

@@ -5,19 +5,19 @@
 package frc.robot.commands;
 
 import edu.wpi.first.wpilibj2.command.Command;
-import frc.robot.subsystems.LeftLifterSubsystem;
+import frc.robot.subsystems.LifterSubsystem;
 
 /** Lifter Command using the Lifter Subsystem. */
-public class LeftLifterCommand extends Command {
+public class LifterCommand extends Command {
   @SuppressWarnings({"PMD.UnusedPrivateField", "PMD.SingularField"})
-  private final LeftLifterSubsystem m_lifterSubsystem;
+  private final LifterSubsystem m_lifterSubsystem;
 
   /**
    * Creates a new LifterDownCommand.
    *
    * @param subsystem The subsystem used by this command.
    */
-  public LeftLifterCommand(LeftLifterSubsystem l_subsystem) {
+  public LifterCommand(LifterSubsystem l_subsystem) {
     m_lifterSubsystem = l_subsystem;
     // Use addRequirements() here to declare subsystem dependencies.
     addRequirements(l_subsystem);
@@ -30,13 +30,13 @@ public void initialize() {}
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    m_lifterSubsystem.activateLeft();
+    m_lifterSubsystem.activate();
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
-    m_lifterSubsystem.stopLeft();
+    m_lifterSubsystem.stop();
   }
 
   // Returns true when the command should end.

src/main/java/frc/robot/subsystems/ShooterSubsystem.java → src/main/java/frc/robot/subsystems/FlywheelSubsystem.java

@@ -20,7 +20,7 @@
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.Constants.CANConstants;
 
-public class ShooterSubsystem extends SubsystemBase {
+public class FlywheelSubsystem extends SubsystemBase {
   private final CANSparkMax m_ShooterMotorMain;
   private final CANSparkMax m_ShooterMotorSecondary;
   private final SparkPIDController m_ShooterMainPIDController;
@@ -52,7 +52,7 @@ public class ShooterSubsystem extends SubsystemBase {
   private final int k_CurrentLimit = 80;
 
   /** Creates a new ShooterSubsystem. */
-  public ShooterSubsystem() {
+  public FlywheelSubsystem() {
     // create the shooter motors
     m_ShooterMotorMain =
         new CANSparkMax(CANConstants.MOTORSHOOTERLEFTID, CANSparkMax.MotorType.kBrushless);

src/main/java/frc/robot/subsystems/RightLifterSubsystem.java → src/main/java/frc/robot/subsystems/LifterSubsystem.java

@@ -7,34 +7,36 @@
 import com.revrobotics.CANSparkMax;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants;
-import frc.robot.Constants.CANConstants;
 
-public class RightLifterSubsystem extends SubsystemBase {
-  private final CANSparkMax m_right; // Motor for right
+public class LifterSubsystem extends SubsystemBase {
+  private final CANSparkMax m_motor; // Motor for
   private double kCurrentSpeed = Constants.LIFTERSPEED;
+  private int motorID;
 
   /** Creates a new LifterSubsystem. */
-  public RightLifterSubsystem() {
-    m_right = new CANSparkMax(CANConstants.MOTORLIFTERRIGHTID, CANSparkMax.MotorType.kBrushless);
-    m_right.setIdleMode(CANSparkMax.IdleMode.kBrake);
-    m_right.setSmartCurrentLimit(60);
-    m_right.burnFlash();
+  public LifterSubsystem(int motor_ID) {
+    motorID = motor_ID;
+    m_motor = new CANSparkMax(motorID, CANSparkMax.MotorType.kBrushless);
+    m_motor.setIdleMode(CANSparkMax.IdleMode.kBrake);
+    m_motor.setInverted(false);
+    m_motor.setSmartCurrentLimit(60);
+    m_motor.burnFlash();
   }
 
-  public void rightMove(double speed) {
-    m_right.set(speed);
+  public void move(double speed) {
+    m_motor.set(speed);
   }
 
-  public void activateRight() {
-    rightMove(kCurrentSpeed);
+  public void activate() {
+    move(kCurrentSpeed);
   }
 
   public void changeDirection() {
     kCurrentSpeed = -kCurrentSpeed;
   }
 
-  public void stopRight() {
-    m_right.set(0);
+  public void stop() {
+    m_motor.set(0);
   }
 
   @Override