Arm setup done

src/main/java/frc/robot/BuildConstants.java

@@ -0,0 +1,19 @@
+package frc.robot;
+
+/**
+ * Automatically generated file containing build version information.
+ */
+public final class BuildConstants {
+  public static final String MAVEN_GROUP = "";
+  public static final String MAVEN_NAME = "FRC2023";
+  public static final String VERSION = "unspecified";
+  public static final int GIT_REVISION = 79;
+  public static final String GIT_SHA = "da48d549ec11ee4bac295346b92a67a91eae1de2";
+  public static final String GIT_DATE = "2023-06-08 11:15:18 CDT";
+  public static final String GIT_BRANCH = "adding-advantagekit-logging";
+  public static final String BUILD_DATE = "2023-09-05 08:08:29 CDT";
+  public static final long BUILD_UNIX_TIME = 1693919309083L;
+  public static final int DIRTY = 1;
+
+  private BuildConstants(){}
+}

src/main/java/frc/robot/Robot.java

@@ -40,7 +40,8 @@ public void robotInit() {
         ctreConfigs = new CTREConfigs();
         // Instantiate our RobotContainer. This will perform all our button bindings, and put our
         // autonomous chooser on the dashboard.
-        m_robotContainer = new RobotContainer();
+        m_robotContainer = new RobotContainer(isReal());
+
     }
 
     /**

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

@@ -43,10 +43,12 @@
 import frc.robot.commands.leds.MovingColorLEDs;
 import frc.robot.commands.leds.PoliceLEDs;
 import frc.robot.commands.wrist.VariableIntake;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.LEDs;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
+import frc.robot.subsystems.arm.ArmIO;
+import frc.robot.subsystems.arm.ArmIOSparkMax;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -122,7 +124,7 @@ public class RobotContainer {
     private LEDs leds = new LEDs(Constants.LEDConstants.LED_COUNT, Constants.LEDConstants.PWM_PORT);
     public final Swerve s_Swerve = new Swerve();
     // private final DropIntake s_dIntake = new DropIntake();
-    private final Arm s_Arm = new Arm(ph);
+    private final Arm s_Arm;
     private final WristIntake s_wristIntake = new WristIntake();
 
 
@@ -131,10 +133,18 @@ public class RobotContainer {
         .withProperties(Map.of("Color when true", "green", "Color when false", "red"))
         .withPosition(8, 0).withSize(2, 2).getEntry();
 
+    private ArmIO armIO;
+
     /**
      * The container for the robot. Contains subsystems, OI devices, and commands.
      */
-    public RobotContainer() {
+    public RobotContainer(boolean isReal) {
+        if (isReal) {
+            armIO = new ArmIOSparkMax(ph);
+        } else {
+            armIO = new ArmIO() {};
+        }
+        s_Arm = new Arm(armIO);
         ph.enableCompressorAnalog(90, 120);
         s_Swerve.setDefaultCommand(new TeleopSwerve(s_Swerve, driver,
             Constants.Swerve.IS_FIELD_RELATIVE, Constants.Swerve.IS_OPEN_LOOP, s_Arm));

src/main/java/frc/robot/autos/CrossAndDock.java

@@ -14,9 +14,9 @@
 import frc.robot.commands.drive.MoveToEngage;
 import frc.robot.commands.drive.MoveToPos;
 import frc.robot.commands.drive.TurnToAngle;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Leaves community, and docks.

src/main/java/frc/robot/autos/DoubleScore.java

@@ -18,9 +18,9 @@
 import frc.robot.commands.arm.DockArm;
 import frc.robot.commands.drive.MoveToPos;
 import frc.robot.commands.wrist.AutoWrist;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Score a second game piece

src/main/java/frc/robot/autos/DoubleScore6.java

@@ -12,9 +12,9 @@
 import frc.robot.commands.arm.DockArm;
 import frc.robot.commands.drive.MoveToPos;
 import frc.robot.commands.wrist.AutoWrist;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Score a second game piece

src/main/java/frc/robot/autos/MiddleScoreEngage.java

@@ -15,9 +15,9 @@
 import frc.robot.commands.drive.MoveToPos;
 import frc.robot.commands.drive.MoveToScore;
 import frc.robot.commands.wrist.WristIntakeRelease;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Score one game piece then engage from community side.

src/main/java/frc/robot/autos/Score1.java

@@ -8,9 +8,9 @@
 import frc.robot.commands.drive.MoveToPos;
 import frc.robot.commands.drive.MoveToScore;
 import frc.robot.commands.wrist.WristIntakeRelease;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Score1Dock Auto.

src/main/java/frc/robot/autos/Score1Dock.java

@@ -15,9 +15,9 @@
 import frc.robot.commands.drive.MoveToPos;
 import frc.robot.commands.drive.MoveToScore;
 import frc.robot.commands.wrist.WristIntakeRelease;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Score1Dock Auto.

src/main/java/frc/robot/autos/SecondGamePiece.java

@@ -13,9 +13,9 @@
 import frc.robot.commands.arm.DockArm;
 import frc.robot.commands.arm.MoveArm;
 import frc.robot.commands.wrist.AutoWrist;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 
 /**

src/main/java/frc/robot/autos/SecondGamePiece6.java

@@ -14,9 +14,9 @@
 import frc.robot.commands.arm.DockArm;
 import frc.robot.commands.arm.MoveArm;
 import frc.robot.commands.wrist.AutoWrist;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 
 /**

src/main/java/frc/robot/autos/SecondGamePieceScore.java

@@ -8,9 +8,9 @@
 import frc.robot.commands.drive.MoveToPos;
 import frc.robot.commands.drive.MoveToScore;
 import frc.robot.commands.wrist.WristIntakeRelease;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Acquire a second game piece after scoring

src/main/java/frc/robot/autos/TripleScore.java

@@ -9,9 +9,9 @@
 import frc.robot.commands.arm.CubeIntake;
 import frc.robot.commands.arm.DockArm;
 import frc.robot.commands.wrist.AutoWrist;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Score three game pieces

src/main/java/frc/robot/autos/TripleScore6.java

@@ -10,9 +10,9 @@
 import frc.robot.commands.arm.CubeIntake;
 import frc.robot.commands.arm.DockArm;
 import frc.robot.commands.wrist.AutoWrist;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Score three game pieces

src/main/java/frc/robot/commands/arm/ArmMoving.java

@@ -1,7 +1,7 @@
 package frc.robot.commands.arm;
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * This command will move the arm to a requested angle.

src/main/java/frc/robot/commands/arm/ConeIntake.java

@@ -4,7 +4,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.ArmPosition;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * This command will move the arm to a requested angle.

src/main/java/frc/robot/commands/arm/ConeUpIntake.java

@@ -4,7 +4,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.ArmPosition;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * This command will move the arm to a requested angle.

src/main/java/frc/robot/commands/arm/CubeIntake.java

@@ -4,7 +4,7 @@
 import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.ArmPosition;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * This command will move the arm to a requested angle.

src/main/java/frc/robot/commands/arm/DockArm.java

@@ -3,8 +3,8 @@
 import edu.wpi.first.wpilibj2.command.ConditionalCommand;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.ArmPosition;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Command to dock the arm in the robot

src/main/java/frc/robot/commands/arm/MoveArm.java

@@ -3,7 +3,7 @@
 import java.util.function.Supplier;
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.lib.util.ArmPosition;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * This command will move the arm to a requested angle.

src/main/java/frc/robot/commands/arm/ScoreArm.java

@@ -2,8 +2,8 @@
 
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.Scoring;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Command to move arm into scoring position

src/main/java/frc/robot/commands/arm/VariableArm.java

@@ -2,7 +2,7 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Command to move the arm slightly

src/main/java/frc/robot/commands/drive/MoveToEngage.java

@@ -3,9 +3,9 @@
 import edu.wpi.first.math.geometry.Pose2d;
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.FieldConstants;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 
 /**

src/main/java/frc/robot/commands/drive/MoveToScore.java

@@ -4,9 +4,9 @@
 import edu.wpi.first.wpilibj2.command.SequentialCommandGroup;
 import frc.lib.util.Scoring;
 import frc.robot.commands.arm.ScoreArm;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
 import frc.robot.subsystems.WristIntake;
+import frc.robot.subsystems.arm.Arm;
 
 
 /**

src/main/java/frc/robot/commands/drive/TeleopSwerve.java

@@ -6,8 +6,8 @@
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
 import frc.lib.math.Conversions;
 import frc.robot.Constants;
-import frc.robot.subsystems.Arm;
 import frc.robot.subsystems.Swerve;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Creates an command for driving the swerve drive during tele-op

src/main/java/frc/robot/commands/test/TestArm.java

@@ -6,7 +6,7 @@
 import frc.lib.util.Scoring;
 import frc.lib.util.Scoring.GamePiece;
 import frc.robot.Robot;
-import frc.robot.subsystems.Arm;
+import frc.robot.subsystems.arm.Arm;
 
 /**
  * Test April tag transform