Add code to separate near shot from auto shot.

Code is prepared, but not used.

- Nick Q

Author: PhyXTGears-1720

src/main/cpp/Robot.cpp

@@ -105,6 +105,13 @@ void Robot::RobotInit()
         { mShooter }
     );
 
+    
+    mShootAuto = new frc2::StartEndCommand(
+        [&]() { mShooter->shootAuto(); },
+        [&]() { mShooter->stopShooter(); },
+        { mShooter }
+    );
+
     m_chooser.SetDefaultOption(kAutoNameDefault, kAutoNameDefault);
     m_chooser.AddOption(kAutoDriveAndShoot, kAutoDriveAndShoot);
     frc::SmartDashboard::PutData("Auto Modes", &m_chooser);

src/main/cpp/shooter/shooter.cpp

@@ -5,6 +5,7 @@
 Shooter::Shooter(std::shared_ptr<cpptoml::table> toml) {
     config.speed.near = toml->get_qualified_as<double>("speed.near").value_or(2700);
     config.speed.far = toml->get_qualified_as<double>("speed.far").value_or(3200);
+    config.speed.auton = toml->get_qualified_as<double>("speed.auto").value_or(2500);
     config.motor.p = toml->get_qualified_as<double>("motor.p").value_or(0.01);
     config.motor.i = toml->get_qualified_as<double>("motor.i").value_or(0.0);
     config.motor.d = toml->get_qualified_as<double>("motor.d").value_or(0.0);
@@ -41,6 +42,10 @@ void Shooter::shootNear() {
     runShooter(config.speed.near);
 }
 
+void Shooter::shootAuto() {
+    runShooter(config.speed.auton);
+}
+
 void Shooter::stopShooter () {
     mShooterMotor.StopMotor();
 }

src/main/deploy/config.toml

@@ -6,6 +6,7 @@ intakeExtendedPosition = 1.0
 
 [shooter]
 speed.near = 2400 # RPM
+speed.auto = 2200 # RPM
 speed.far = 2750
 motor.p = 0.0005
 motor.i = 0.0

src/main/include/Robot.h

@@ -71,6 +71,7 @@ class Robot : public frc::TimedRobot
 
     frc2::StartEndCommand *mShootNear = nullptr;
     frc2::StartEndCommand *mShootFar = nullptr;
+    frc2::StartEndCommand *mShootAuto = nullptr;
 
     frc2::SequentialCommandGroup * mDriveAndShoot = nullptr;
 };

src/main/include/shooter/shooter.h

@@ -17,6 +17,7 @@ class Shooter : public frc2::SubsystemBase {
     void runShooter (double speed);
     void shootFar ();
     void shootNear ();
+    void shootAuto ();
     void stopShooter ();
 
 private:
@@ -44,6 +45,7 @@ class Shooter : public frc2::SubsystemBase {
         struct {
             double near;
             double far;
+            double auton;
         } speed;
 
         struct {