More treatment

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

@@ -31,28 +31,27 @@
 import frc.robot.subsystems.ampevator.AmpevatorIOTalonFX;
 import frc.robot.subsystems.ampevatorrollers.Roller;
 import frc.robot.subsystems.ampevatorrollers.RollerConstants;
-import frc.robot.subsystems.ampevatorrollers.RollerIOTalonFX;
 import frc.robot.subsystems.climb.Climb;
-import frc.robot.subsystems.climb.ClimbIOTalonFX;
+import frc.robot.subsystems.climb.ClimbConstants;
 import frc.robot.subsystems.intake.Intake;
 import frc.robot.subsystems.intake.IntakeConstants;
 import frc.robot.subsystems.pivotshooter.PivotShooter;
+import frc.robot.subsystems.pivotshooter.PivotShooterConstants;
 import frc.robot.subsystems.pivotshooter.PivotShooterIOSim;
-import frc.robot.subsystems.pivotshooter.PivotShooterIOTalonFX;
 import frc.robot.subsystems.shooter.Shooter;
 import frc.robot.subsystems.shooter.ShooterIOSim;
 import frc.robot.subsystems.shooter.ShooterIOTalonFX;
-import frc.robot.subsystems.spindex.ShooterFeederIOTalonFX;
+import frc.robot.subsystems.spindex.BaseSpindexConstants;
 import frc.robot.subsystems.spindex.Spindex;
 import frc.robot.subsystems.spindex.SpindexConstants;
-import frc.robot.subsystems.spindex.SpindexIOTalonFX;
+import frc.robot.subsystems.spindex.SpindexFeederConstants;
 import frc.robot.subsystems.swerve.*;
 import frc.robot.subsystems.turret.*;
 import frc.robot.subsystems.vision.Vision;
 import frc.robot.subsystems.vision.VisionIOLimelight;
 import frc.robot.utils.MappedXboxController;
 import frc.robot.utils.NamedCommands;
-import frc.robot.utils.generics.SingleMotorSubsystemIOTalonFX;
+import frc.robot.utils.generics.VelocityIOTalonFX;
 
 /**
  * This class is where the bulk of the robot should be declared. Since Command-based is a
@@ -83,26 +82,31 @@ public class RobotContainer {
   private final PivotShooter pivotShooter =
       new PivotShooter(
           Constants.FeatureFlags.kPivotShooterEnabled,
-          Utils.isSimulation() ? new PivotShooterIOSim() : new PivotShooterIOTalonFX());
+          Utils.isSimulation()
+              ? new PivotShooterIOSim()
+              : new SingleMotorSubsystemIOTalonFX<PivotShooterConstants>());
 
   private final Roller ampevatorRollers =
       new Roller(
           Constants.FeatureFlags.kAmpevatorRollersEnabled,
-          new RollerIOTalonFX(),
+          new SingleMotorSubsystemIOTalonFX<RollerConstants>(),
           new BeamBreakIOBanner(RollerConstants.kRollerBeamBreakDIO));
 
-  private final Climb climb = new Climb(Constants.FeatureFlags.kClimbEnabled, new ClimbIOTalonFX());
+  private final Climb climb =
+      new Climb(
+          Constants.FeatureFlags.kClimbEnabled,
+          new SingleMotorSubsystemIOTalonFX<ClimbConstants>());
   private final Intake intake =
       new Intake(
           Constants.FeatureFlags.kIntakeEnabled,
-          new SingleMotorSubsystemIOTalonFX<IntakeConstants>(),
+          new VelocityIOTalonFX<IntakeConstants>(),
           new BeamBreakIOBanner(IntakeConstants.kIntakeBeamBreakDIO));
   private final Spindex spindex =
       new Spindex(
           Constants.FeatureFlags.kSpindexEnabled,
-          new SpindexIOTalonFX(),
-          new ShooterFeederIOTalonFX(),
-          new BeamBreakIOBanner(SpindexConstants.kSpindexBeamBreakDIO));
+          new SingleMotorSubsystemIOTalonFX<SpindexConstants>(),
+          new SingleMotorSubsystemIOTalonFX<SpindexFeederConstants>(),
+          new BeamBreakIOBanner(BaseSpindexConstants.kSpindexBeamBreakDIO));
   private final Vision vision = new Vision(new VisionIOLimelight());
 
   private final Superstructure superstructure =

src/main/java/frc/robot/subsystems/Superstructure.java

@@ -128,7 +128,8 @@ public void configStateTransitions() {
         .onTrue(spindex.goToShooter())
         .onTrue(
             pivotShooter.setPosition(
-                PivotShooterConstants.kSubWooferPreset * PivotShooterConstants.kPivotMotorGearing))
+                PivotShooterConstants.kSubWooferPreset
+                    * PivotShooterConstants.SimulationConstants.kGearRatio))
         .onTrue(
             shooter.setVelocity(
                 ShooterConstants.kShooterSpeakerRPS, ShooterConstants.kShooterFollowerSpeakerRPS))

src/main/java/frc/robot/subsystems/ampevatorrollers/Roller.java

@@ -17,11 +17,14 @@
 import frc.robot.subsystems.BeamBreakIO;
 import frc.robot.subsystems.BeamBreakIOInputsAutoLogged;
 import frc.robot.utils.DisableSubsystem;
+import frc.robot.utils.generics.SingleMotorSubsystemIO;
+import frc.robot.utils.generics.SingleMotorSubsystemInputsAutoLogged;
 import org.littletonrobotics.junction.Logger;
 
 public class Roller extends DisableSubsystem {
-  private final RollerIO rollerIO;
-  private final RollerIOInputsAutoLogged rollerIOAutoLogged = new RollerIOInputsAutoLogged();
+  private final SingleMotorSubsystemIO rollerIO;
+  private final SingleMotorSubsystemInputsAutoLogged rollerIOAutoLogged =
+      new SingleMotorSubsystemInputsAutoLogged();
 
   private final BeamBreakIO beamBreakIO;
   private final BeamBreakIOInputsAutoLogged beamBreakIOAutoLogged =
@@ -32,7 +35,7 @@ public class Roller extends DisableSubsystem {
   public final Trigger debouncedBeamBreak = new Trigger(this::isBeamBroken).debounce(0.1);
   ;
 
-  public Roller(boolean disabled, RollerIO rollerIO, BeamBreakIO beamBreakIO) {
+  public Roller(boolean disabled, SingleMotorSubsystemIO rollerIO, BeamBreakIO beamBreakIO) {
     super(disabled);
 
     this.rollerIO = rollerIO;
@@ -48,8 +51,8 @@ public Roller(boolean disabled, RollerIO rollerIO, BeamBreakIO beamBreakIO) {
             new SysIdRoutine.Mechanism(
                 (volts) ->
                     rollerIO
-                        .getRollerMotor()
-                        .setControl(rollerIO.getRollerVoltageRequest().withOutput(volts.in(Volts))),
+                        .getMotor()
+                        .setControl(rollerIO.getVoltageRequest().withOutput(volts.in(Volts))),
                 null,
                 this));
   }
@@ -64,25 +67,25 @@ public void periodic() {
   }
 
   public Command setVoltage(double voltage) {
-    return this.run(() -> rollerIO.setRollerVoltage(voltage)).finallyDo(rollerIO::off);
+    return this.run(() -> rollerIO.setVoltage(voltage)).finallyDo(rollerIO::off);
   }
 
   public Command setVelocity(double velocity, double passthroughVelocity) {
-    return this.run(() -> rollerIO.setRollerVelocity(velocity)).finallyDo(rollerIO::off);
+    return this.run(() -> rollerIO.setVelocity(velocity)).finallyDo(rollerIO::off);
   }
 
   public Command off() {
     return this.runOnce(rollerIO::off);
   }
 
   public Command intakeNote() {
-    return this.run(() -> rollerIO.setRollerVoltage(RollerConstants.kRollerIntakeVoltage))
+    return this.run(() -> rollerIO.setVoltage(RollerConstants.kRollerIntakeVoltage))
         .until(debouncedBeamBreak)
         .finallyDo(rollerIO::off);
   }
 
   public Command outtake() {
-    return this.run(() -> rollerIO.setRollerVoltage(RollerConstants.kRollerOuttakeVoltage))
+    return this.run(() -> rollerIO.setVoltage(RollerConstants.kRollerOuttakeVoltage))
         .until(debouncedBeamBreak)
         .finallyDo(rollerIO::off);
   }

src/main/java/frc/robot/subsystems/ampevatorrollers/RollerConstants.java

@@ -10,22 +10,12 @@
 import com.ctre.phoenix6.configs.*;
 import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
+import frc.robot.utils.generics.SingleMotorConstants;
 
-public final class RollerConstants {
+public final class RollerConstants implements SingleMotorConstants {
   /* CAN */
-  public static final int kRollerMotorID = 33;
-
-  public static final double kRollerOuttakeVoltage = 12;
-
-  // Time of Flight constants
-  public static final double kBeamBreakDelayTime = 0;
-
-  public static final int kRollerBeamBreakDIO = 2;
-
-  public static double updateFrequency = 50;
-  public static boolean kRollerMotionMagic = false;
-
-  public static final TalonFXConfiguration motorConfigs =
+  public static final int kMotorID = 33;
+  public static final TalonFXConfiguration kMotorConfig =
       new TalonFXConfiguration()
           .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
           .withMotorOutput(
@@ -41,6 +31,20 @@ public final class RollerConstants {
               new CurrentLimitsConfigs()
                   .withStatorCurrentLimitEnable(true)
                   .withStatorCurrentLimit(80));
-  public static int flashConfigRetries = 5;
+
+  public static final boolean kUseMotionMagic = false;
+  public static final boolean kUseFOC = true;
+  public static final double kStatusSignalUpdateFrequency = 50.0; // Hz
+  public static final int kFlashConfigRetries = 5;
+
+  // Time of Flight constants
+  public static final double kBeamBreakDelayTime = 0;
+  public static final int kRollerBeamBreakDIO = 2;
+  // Presets
+  public static final double kRollerOuttakeVoltage = 12;
   public static double kRollerIntakeVoltage = 4;
+
+  public static class SimulationConstants {
+    public static final double kGearRatio = 1.0; // todo: tune
+  }
 }

src/main/java/frc/robot/subsystems/climb/Climb.java

@@ -14,15 +14,18 @@
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine;
 import frc.robot.utils.DisableSubsystem;
+import frc.robot.utils.generics.SingleMotorSubsystemIO;
+import frc.robot.utils.generics.SingleMotorSubsystemInputsAutoLogged;
 import org.littletonrobotics.junction.Logger;
 
 public class Climb extends DisableSubsystem {
 
-  private final ClimbIO climbIO;
-  private final ClimbIOInputsAutoLogged climbIOAutoLogged = new ClimbIOInputsAutoLogged();
+  private final SingleMotorSubsystemIO climbIO;
+  private final SingleMotorSubsystemInputsAutoLogged climbIOAutoLogged =
+      new SingleMotorSubsystemInputsAutoLogged();
   private final SysIdRoutine m_sysIdRoutine;
 
-  public Climb(boolean disabled, ClimbIO climbIO) {
+  public Climb(boolean disabled, SingleMotorSubsystemIO climbIO) {
     super(disabled);
     this.climbIO = climbIO;
     m_sysIdRoutine =
@@ -50,7 +53,8 @@ public void periodic() {
   }
 
   public Command setPosition(double position) {
-    return this.run(() -> climbIO.setPosition(position * ClimbConstants.gearRatio));
+    return this.run(
+        () -> climbIO.setPosition(position * ClimbConstants.SimulationConstants.kGearRatio));
   }
 
   public Command setVoltage(double voltage) {