From 04d2d78834762b1f3e78ade199d1fd9b34307d29 Mon Sep 17 00:00:00 2001
From: Cooper <cjnelson016@gmail.com>
Date: Fri, 20 Nov 2020 17:13:55 -0600
Subject: [PATCH] testing, added shuffleboard

---
 .../src/main/cpp/subsystems/Spindexer.cpp     | 13 ++--
 Competition/src/main/include/Constants.h      |  2 +-
 .../src/main/include/subsystems/Spindexer.h   |  5 +-
 Competition/vendordeps/REVRobotics.json       | 70 +++++++++++++++++++
 4 files changed, 80 insertions(+), 10 deletions(-)
 create mode 100644 Competition/vendordeps/REVRobotics.json

diff --git a/Competition/src/main/cpp/subsystems/Spindexer.cpp b/Competition/src/main/cpp/subsystems/Spindexer.cpp
index 55687fa..73f2fb2 100644
--- a/Competition/src/main/cpp/subsystems/Spindexer.cpp
+++ b/Competition/src/main/cpp/subsystems/Spindexer.cpp
@@ -1,13 +1,14 @@
 #include "subsystems/Spindexer.h"
 
 Spindexer::Spindexer() : ValorSubsystem(),
-                        motor{SpindexerConstants::CAN_ID} {
+                        motor{SpindexerConstants::CAN_ID, rev::CANSparkMax::MotorType::kBrushless} {
     frc2::CommandScheduler::GetInstance().RegisterSubsystem(this);
     spinTable = nt::NetworkTableInstance::GetDefault().GetTable("spindexer");
-    spinTable->GetEntry("Speed?").SetDouble(0.0);
+    spinTable->GetEntry("Spindexer Speed").SetDouble(0.0);
 }
 
 void Spindexer::init() {
+    motor.SetIdleMode(rev::CANSparkMax::IdleMode::kCoast);
     motor.SetInverted(false);
 }
 
@@ -31,9 +32,7 @@ void Spindexer::assessInputs() {
 
     if (driverController->GetBumper(frc::GenericHID::kLeftHand)) {
         state.spinState = SpindexerState::ENABLED;
-        double power2 = spinTable->GetEntry("Speed?").GetDouble(0.0);
-        frc::SmartDashboard::PutNumber("Spindexer Speed", power2);
-        state.powah = 1.0;
+        state.power = spinTable->GetEntry("Spindexer Speed").GetDouble(0.0);
     } else {
         state.spinState = SpindexerState::DISABLED;
     }
@@ -43,8 +42,8 @@ void Spindexer::assignOutputs() {
     state.spinState == SpindexerState::ENABLED ? frc::SmartDashboard::PutString("State", "Enabled") : frc::SmartDashboard::PutString("State", "Disabled");
 
     if (state.spinState == SpindexerState::ENABLED) {
-        motor.Set(ctre::phoenix::motorcontrol::VictorSPXControlMode::PercentOutput, state.powah);
+        motor.Set(state.power);
     } else {
-        motor.Set(ctre::phoenix::motorcontrol::VictorSPXControlMode::PercentOutput, 0);
+        motor.Set(0);
     }
 }
\ No newline at end of file
diff --git a/Competition/src/main/include/Constants.h b/Competition/src/main/include/Constants.h
index 31b0e71..cd71d2f 100644
--- a/Competition/src/main/include/Constants.h
+++ b/Competition/src/main/include/Constants.h
@@ -37,7 +37,7 @@ namespace DriveConstants {
 }
 
 namespace SpindexerConstants {
-    constexpr static int CAN_ID = 8;
+    constexpr static int CAN_ID = 3;
 }
 
 #endif
diff --git a/Competition/src/main/include/subsystems/Spindexer.h b/Competition/src/main/include/subsystems/Spindexer.h
index 7b1a7fc..9b158fd 100644
--- a/Competition/src/main/include/subsystems/Spindexer.h
+++ b/Competition/src/main/include/subsystems/Spindexer.h
@@ -6,6 +6,7 @@
 
 #include <frc/smartdashboard/SmartDashboard.h>
 #include <ctre/Phoenix.h>
+#include <rev/CANSparkMax.h>
 #include <frc/livewindow/LiveWindow.h>
 #include <frc/SpeedControllerGroup.h>
 #include <networktables/NetworkTableEntry.h>
@@ -36,10 +37,10 @@ class Spindexer : public ValorSubsystem {
 
         struct x {
             SpindexerState spinState;
-            double powah;
+            double power;
         } state;
     private:
-        VictorSPX motor;
+        rev::CANSparkMax motor;
 
         frc::XboxController* driverController;
 
diff --git a/Competition/vendordeps/REVRobotics.json b/Competition/vendordeps/REVRobotics.json
new file mode 100644
index 0000000..0d99fcd
--- /dev/null
+++ b/Competition/vendordeps/REVRobotics.json
@@ -0,0 +1,70 @@
+{
+    "cppDependencies": [
+        {
+            "artifactId": "SparkMax-cpp",
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ],
+            "groupId": "com.revrobotics.frc",
+            "headerClassifier": "headers",
+            "libName": "SparkMax",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "version": "1.5.2"
+        },
+        {
+            "artifactId": "SparkMax-driver",
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ],
+            "groupId": "com.revrobotics.frc",
+            "headerClassifier": "headers",
+            "libName": "SparkMaxDriver",
+            "sharedLibrary": false,
+            "skipInvalidPlatforms": true,
+            "version": "1.5.2"
+        }
+    ],
+    "fileName": "REVRobotics.json",
+    "javaDependencies": [
+        {
+            "artifactId": "SparkMax-java",
+            "groupId": "com.revrobotics.frc",
+            "version": "1.5.2"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "artifactId": "SparkMax-driver",
+            "groupId": "com.revrobotics.frc",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "windowsx86",
+                "linuxaarch64bionic",
+                "linuxx86-64",
+                "linuxathena",
+                "linuxraspbian"
+            ],
+            "version": "1.5.2"
+        }
+    ],
+    "jsonUrl": "http://www.revrobotics.com/content/sw/max/sdk/REVRobotics.json",
+    "mavenUrls": [
+        "http://www.revrobotics.com/content/sw/max/sdk/maven/"
+    ],
+    "name": "REVRobotics",
+    "uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
+    "version": "1.5.2"
+}
\ No newline at end of file