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IO Layers optimized #43

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36bdd24
change all the same private variable within CB and PB to protected.
ArsemaRobi Sep 25, 2025
171a8e1
HELLO THIS IS A COMMIT
Kaleb-Robotics Sep 25, 2025
f3b899a
Merge branch 'KeirnanTest' of https://github.com/FRCTeam360/RainMaker…
Kaleb-Robotics Sep 25, 2025
4b78c6d
Deleted repetitive code in PB & CB IO layers
ArsemaRobi Sep 25, 2025
0bc30b6
Merge branch 'KeirnanTest' of https://github.com/FRCTeam360/RainMaker…
ArsemaRobi Sep 25, 2025
4b5d565
Unnecessary imports & lines removed, fixing variables not being initi…
27MahoneyKeirnan Oct 9, 2025
a32e314
Got rid of duplicate Algae Arm code
27MahoneyKeirnan Oct 9, 2025
75c9221
Calling the super class in Practice Bot IO layers
27MahoneyKeirnan Oct 23, 2025
9f16ce3
Merge branch 'main' into KeirnanTest
27MahoneyKeirnan Oct 23, 2025
8e1e18a
WEIRD ~ multiple errors whilst merging
27MahoneyKeirnan Oct 30, 2025
eda686f
Import to fix an error
27MahoneyKeirnan Nov 6, 2025
faae9b8
Imports to fix errors
27MahoneyKeirnan Nov 6, 2025
4313ac7
All files except for Elevator subsystem IO layers have been simplifie…
27MahoneyKeirnan Nov 6, 2025
59fe355
Elevator IOCB reverted to main.
27MahoneyKeirnan Nov 6, 2025
ef7a6e5
ElevatorIOPB has been simplified.
27MahoneyKeirnan Nov 6, 2025
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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/Autos.java
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Expand Up @@ -17,4 +17,4 @@
// private Autos() {
// throw new UnsupportedOperationException("This is a utility class!");
// }
// }
// }
31 changes: 14 additions & 17 deletions src/main/java/frc/robot/subsystems/AlgaeArm/AlgaeArmIOCB.java
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@@ -1,7 +1,7 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

//if CB & PB IO files have equal values, remove from PB, which extends CB. Everything "private" must be "protected"
package frc.robot.subsystems.AlgaeArm;

import com.revrobotics.RelativeEncoder;
Expand All @@ -19,24 +19,21 @@

public class AlgaeArmIOCB implements AlgaeArmIO {

private final SparkMax armMotor =
new SparkMax(Constants.CompBotConstants.ALGAE_ARM_ID, MotorType.kBrushless); // placeholder
// // ID
private final RelativeEncoder encoder = armMotor.getEncoder();

private final double kP = 0.25;
private final double kI = 0.0;
private final double kD = 0.0;
protected final SparkMax armMotor = new SparkMax(Constants.CompBotConstants.ALGAE_ARM_ID, MotorType.kBrushless); // placeholder // ID
protected final RelativeEncoder encoder = armMotor.getEncoder();

protected final double kP = 0.025;
protected final double kI = 0.0;
protected final double kD = 0.0;

private final double POSITION_CONVERSION_FACTOR =
(1.0 / 5.0) * (1.0 / 5.0) * (18.0 / 36.0) * (360.0 / 1.0);
private final double VELOCITY_CONVERSION_FACTOR = POSITION_CONVERSION_FACTOR / 60.0;
protected final double POSITION_CONVERSION_FACTOR = (1.0 / 5.0) * (1.0 / 5.0) * (18.0 / 36.0) * (360.0 / 1.0);
protected final double VELOCITY_CONVERSION_FACTOR = POSITION_CONVERSION_FACTOR / 60.0;

private final double FORWARD_LIMIT = 180.0;
private final double REVERSE_LIMIT = -18.0;
private final SparkMaxConfig sparkMaxConfig = new SparkMaxConfig();
protected final double FORWARD_LIMIT = 150.0;
protected final double REVERSE_LIMIT = 10.0;
protected final SparkMaxConfig sparkMaxConfig = new SparkMaxConfig();

private final double MAX_OUTPUT = 0.5;
protected final double MAX_OUTPUT = 0.5;

/** Creates a new AlgaeArmIOPB. */
public AlgaeArmIOCB() {
Expand Down Expand Up @@ -94,4 +91,4 @@ public void enableReverseSoftLimit(boolean enabled) {
public void setEncoder(double value) {
encoder.setPosition(value);
}
}
}
92 changes: 3 additions & 89 deletions src/main/java/frc/robot/subsystems/AlgaeArm/AlgaeArmIOPB.java
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Expand Up @@ -4,94 +4,8 @@

package frc.robot.subsystems.AlgaeArm;

import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.ClosedLoopConfig;
import com.revrobotics.spark.config.EncoderConfig;
import com.revrobotics.spark.config.SoftLimitConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkMaxConfig;
import frc.robot.Constants;

public class AlgaeArmIOPB implements AlgaeArmIO {

private final SparkMax armMotor =
new SparkMax(
Constants.PracticeBotConstants.ALGAE_ARM_ID, MotorType.kBrushless); // placeholder
// // ID
private final RelativeEncoder encoder = armMotor.getEncoder();

private final double kP = 0.025;
private final double kI = 0.0;
private final double kD = 0.0;

private final double POSITION_CONVERSION_FACTOR =
(1.0 / 5.0) * (1.0 / 5.0) * (18.0 / 36.0) * (360.0 / 1.0);
private final double VELOCITY_CONVERSION_FACTOR = POSITION_CONVERSION_FACTOR / 60.0;

private final double FORWARD_LIMIT = 150.0;
private final double REVERSE_LIMIT = -18.0;
private final SparkMaxConfig sparkMaxConfig = new SparkMaxConfig();

private final double MAX_OUTPUT = 0.5;

public class AlgaeArmIOPB extends AlgaeArmIOCB{
/** Creates a new AlgaeArmIOPB. */
public AlgaeArmIOPB() {

@JRTaylord JRTaylord Oct 9, 2025

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Needs to call super(); in the constructor

@JRTaylord JRTaylord Oct 9, 2025

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If the config code below is identical to the config code in the super class, delete this

sparkMaxConfig.idleMode(IdleMode.kBrake);
sparkMaxConfig.inverted(false);

ClosedLoopConfig closedLoopConfig = new ClosedLoopConfig();
closedLoopConfig.pid(kP, kI, kD);
closedLoopConfig.minOutput(-MAX_OUTPUT);
closedLoopConfig.maxOutput(MAX_OUTPUT);
sparkMaxConfig.apply(closedLoopConfig);

EncoderConfig encoderConfig = new EncoderConfig();
encoderConfig.positionConversionFactor(POSITION_CONVERSION_FACTOR);
encoderConfig.velocityConversionFactor(VELOCITY_CONVERSION_FACTOR);
sparkMaxConfig.apply(encoderConfig);

SoftLimitConfig softLimitConfig = new SoftLimitConfig();
softLimitConfig.forwardSoftLimit(FORWARD_LIMIT);
softLimitConfig.forwardSoftLimitEnabled(true);
softLimitConfig.reverseSoftLimit(REVERSE_LIMIT);
softLimitConfig.reverseSoftLimitEnabled(true);
sparkMaxConfig.apply(softLimitConfig);

armMotor.configure(
sparkMaxConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
}

public void updateInputs(AlgaeArmIOInputs inputs) {
inputs.algaeArmAngle = encoder.getPosition();
inputs.algaeArmVelocity = encoder.getVelocity();
inputs.algaeArmVoltage = armMotor.getBusVoltage() * armMotor.getAppliedOutput();
inputs.algaeArmCurrent = armMotor.getOutputCurrent();
inputs.algaeArmTemp = armMotor.getMotorTemperature();
}

public void setDutyCycle(double dutyCycle) {
armMotor.set(dutyCycle);
}

public void setPosition(double position) {
armMotor.getClosedLoopController().setReference(position, ControlType.kPosition);
}

public void enableReverseSoftLimit(boolean enabled) {
sparkMaxConfig.softLimit.reverseSoftLimitEnabled(enabled);
}

/**
* method for updating the encoder position
*
* @param value new encoder position in motor rotations
*/
public void setEncoder(double value) {
encoder.setPosition(value);
}
}
}
}
11 changes: 7 additions & 4 deletions src/main/java/frc/robot/subsystems/AlgaeRoller/AlgaeRollerIOCB.java
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Expand Up @@ -11,16 +11,19 @@
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkMaxConfig;

import frc.robot.Constants;

public class AlgaeRollerIOCB implements AlgaeRollerIO {
private final SparkMax motor =
new SparkMax(Constants.CompBotConstants.ALGAE_ROLLER, MotorType.kBrushless);
private final SparkMaxConfig config = new SparkMaxConfig();
private final RelativeEncoder encoder = motor.getEncoder();
protected SparkMax motor;
protected SparkMaxConfig config = new SparkMaxConfig();
protected RelativeEncoder encoder;

/** Creates a new AlgaeIntakeRollerIOPB. */
public AlgaeRollerIOCB() {
motor = new SparkMax(Constants.CompBotConstants.ALGAE_ROLLER, MotorType.kBrushless);
encoder = motor.getEncoder();

config.inverted(true);
config.idleMode(IdleMode.kCoast);
config.smartCurrentLimit(20, 5);
Expand Down
26 changes: 6 additions & 20 deletions src/main/java/frc/robot/subsystems/AlgaeRoller/AlgaeRollerIOPB.java
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Expand Up @@ -4,36 +4,22 @@

package frc.robot.subsystems.AlgaeRoller;

import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.SparkMax;
import frc.robot.Constants;

public class AlgaeRollerIOPB implements AlgaeRollerIO {
private final SparkMax motor =
new SparkMax(Constants.PracticeBotConstants.ALGAE_ROLLER, MotorType.kBrushless);
private final SparkMaxConfig config = new SparkMaxConfig();
private final RelativeEncoder encoder = motor.getEncoder();
public class AlgaeRollerIOPB extends AlgaeRollerIOCB {

/** Creates a new AlgaeIntakeRollerIOPB. */
public AlgaeRollerIOPB() {

@JRTaylord JRTaylord Oct 2, 2025

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You'll need to include the super(); keyword

@27MahoneyKeirnan 27MahoneyKeirnan Oct 2, 2025

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How do I implement the keyword? Do I use it after extends and then state the class a second time (with IOCB layer)?

super();
motor = new SparkMax(Constants.PracticeBotConstants.ALGAE_ROLLER, MotorType.kBrushless);

config.inverted(true);
config.idleMode(IdleMode.kBrake);
motor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
}

public void setDutyCycle(double dutyCycle) {
motor.set(dutyCycle);
}

public void updateInputs(AlgaeRollerIOInputs inputs) {
inputs.rollerDutyCycle = motor.get();
inputs.rollerPosition = encoder.getPosition();
inputs.rollerVelocity = encoder.getVelocity();
inputs.rollerCurrent = motor.getAppliedOutput();
}
}
}
26 changes: 16 additions & 10 deletions src/main/java/frc/robot/subsystems/AlgaeShooter/AlgaeShooterIOCB.java
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Expand Up @@ -17,20 +17,26 @@

public class AlgaeShooterIOCB implements AlgaeShooterIO {

private final SparkFlex algaeShooterMotorFront =
new SparkFlex(
Constants.CompBotConstants.ALGAE_SHOOTER_FRONT_ID, MotorType.kBrushless); // no ID
private final SparkFlex algaeShooterMotorBack =
new SparkFlex(
Constants.CompBotConstants.ALGAE_SHOOTER_BACK_ID, MotorType.kBrushless); // no ID
protected final SparkFlex algaeShooterMotorFront;
protected final SparkFlex algaeShooterMotorBack;

private SparkFlexConfig frontConfig = new SparkFlexConfig();
private SparkFlexConfig backConfig = new SparkFlexConfig();
private final double positionConversionFactor = 1.0;
protected SparkFlexConfig frontConfig = new SparkFlexConfig();
protected SparkFlexConfig backConfig = new SparkFlexConfig();
protected final double positionConversionFactor = 1.0;

/** Creates a new AlgaeShooterIOWB. */
public AlgaeShooterIOCB() {
final double kP = 0.00035;
this(
new SparkFlex(Constants.CompBotConstants.ALGAE_SHOOTER_FRONT_ID, MotorType.kBrushless),
new SparkFlex(Constants.CompBotConstants.ALGAE_SHOOTER_BACK_ID, MotorType.kBrushless)
);
}

public AlgaeShooterIOCB(SparkFlex algaeShooterMotorFront, SparkFlex algaeShooterMotorBack) {
this.algaeShooterMotorFront = algaeShooterMotorFront;
this.algaeShooterMotorBack = algaeShooterMotorBack;

final double kP = 0.0;
final double kI = 0.0;
final double kD = 0.0;
final double kFF = 0.00015;
Expand Down
49 changes: 8 additions & 41 deletions src/main/java/frc/robot/subsystems/AlgaeShooter/AlgaeShooterIOPB.java
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Expand Up @@ -4,32 +4,25 @@

package frc.robot.subsystems.AlgaeShooter;

import com.revrobotics.spark.SparkBase.ControlType;
import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkFlex;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.ClosedLoopConfig;
import com.revrobotics.spark.config.EncoderConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkFlexConfig;
import frc.robot.Constants;

public class AlgaeShooterIOPB implements AlgaeShooterIO {

private final SparkFlex algaeShooterMotorFront =
new SparkFlex(
Constants.PracticeBotConstants.ALGAE_SHOOTER_FRONT_ID, MotorType.kBrushless); // no ID
private final SparkFlex algaeShooterMotorBack =
new SparkFlex(
Constants.PracticeBotConstants.ALGAE_SHOOTER_BACK_ID, MotorType.kBrushless); // no ID

private SparkFlexConfig frontConfig = new SparkFlexConfig();
private SparkFlexConfig backConfig = new SparkFlexConfig();
private final double positionConversionFactor = 1.0;
import frc.robot.Constants;

public class AlgaeShooterIOPB extends AlgaeShooterIOCB {

/** Creates a new AlgaeShooterIOWB. */
public AlgaeShooterIOPB() {
super(
new SparkFlex(Constants.PracticeBotConstants.ALGAE_SHOOTER_FRONT_ID, MotorType.kBrushless),
new SparkFlex(Constants.PracticeBotConstants.ALGAE_SHOOTER_BACK_ID, MotorType.kBrushless)
);

// TODO: add values
final double kP = 0.0001;
final double kI = 0.0;
Expand All @@ -55,30 +48,4 @@ public AlgaeShooterIOPB() {
algaeShooterMotorBack.configure(
backConfig, ResetMode.kResetSafeParameters, PersistMode.kPersistParameters);
}

public void updateInputs(AlgaeShooterIOInputs inputs) {
inputs.algaeShooterFrontVoltage = algaeShooterMotorFront.getBusVoltage();
inputs.algaeShooterFrontPosition = algaeShooterMotorFront.getEncoder().getPosition();
inputs.algaeShooterFrontVelocity = algaeShooterMotorFront.getEncoder().getVelocity();
inputs.algaeShooterFrontCurrent = algaeShooterMotorFront.getOutputCurrent();
inputs.algaeShooterFrontTemperature = algaeShooterMotorFront.getMotorTemperature();

inputs.algaeShooterBackVoltage = algaeShooterMotorBack.getBusVoltage();
inputs.algaeShooterBackPosition = algaeShooterMotorBack.getEncoder().getPosition();
inputs.algaeShooterBackVelocity = algaeShooterMotorBack.getEncoder().getVelocity();
inputs.algaeShooterBackCurrent = algaeShooterMotorBack.getOutputCurrent();
inputs.algaeShooterBackTemperature = algaeShooterMotorBack.getMotorTemperature();
}

public void setDutyCycle(double dutyCycle) {
algaeShooterMotorFront.set(dutyCycle);
}

public void setVelocity(double velocity) {
algaeShooterMotorFront.getClosedLoopController().setReference(velocity, ControlType.kVelocity);
}

public void stop() {
algaeShooterMotorFront.stopMotor();
}
}
37 changes: 17 additions & 20 deletions src/main/java/frc/robot/subsystems/AlgaeTilt/AlgaeTiltIOCB.java
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Expand Up @@ -16,31 +16,34 @@
import com.revrobotics.spark.config.EncoderConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkMaxConfig;

import frc.robot.Constants;

public class AlgaeTiltIOCB implements AlgaeTiltIO {
private final SparkMax motor =
new SparkMax(Constants.CompBotConstants.ALGAE_TILT, MotorType.kBrushless);
private final AbsoluteEncoder absEncoder =
motor.getAbsoluteEncoder(); // TODO: make absolute when we get one!!
// private final RelativeEncoder encoder = motor.getEncoder(); // TODO: make absolute when we get
// one!!
protected SparkMax motor;
protected AbsoluteEncoder absEncoder;
// private final RelativeEncoder encoder = motor.getEncoder(); // TODO: make absolute when we get one!!

private final double kP = 4;
private final double kI = 0.0;
private final double kD = 0.0;
protected double kP;
protected final double kI = 0.0;
protected final double kD = 0.0;

private final double forwardLimit = 38.0;
private final double reverseLimit = -10.0;
protected final double forwardLimit = 38.0;
protected final double reverseLimit = -10.0;

private final double ZERO_OFFSET = 0.7170253;
protected final double ZERO_OFFSET = 0.7170253;
// 0.5551491; //0.7218491 + 0.833;

private final double positionConversionFactor = 1.0;
private final SparkMaxConfig sparkMaxConfig = new SparkMaxConfig();
protected final double positionConversionFactor = 1.0;
protected final SparkMaxConfig sparkMaxConfig = new SparkMaxConfig();

/** Creates a new AlgaeIntakeIOPB. */
public AlgaeTiltIOCB() {
motor = new SparkMax(Constants.CompBotConstants.ALGAE_TILT, MotorType.kBrushless);
absEncoder = motor.getAbsoluteEncoder(); // TODO: make absolute when we get one!!

kP = 4;

sparkMaxConfig.idleMode(IdleMode.kBrake);
sparkMaxConfig.inverted(true);
sparkMaxConfig.smartCurrentLimit(20, 5);
Expand Down Expand Up @@ -94,10 +97,4 @@ public void updateInputs(AlgaeTiltIOInputs inputs) {
inputs.armVelocityAbsolute = absEncoder.getVelocity();
inputs.armAmps = motor.getOutputCurrent();
}

// @Override
// public void setEncoder(double value) {
// // TODO Auto-generated method stub
// throw new UnsupportedOperationException("Unimplemented method 'setEncoder'");
// }
}
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