feat: log shooter inputs

src/main/java/com/frcteam3636/frc2024/CAN.kt

@@ -12,12 +12,12 @@ enum class REVMotorControllerId(val num: Int) {
     BackLeftTurningMotor(2),
     BackRightTurningMotor(3),
     FrontRightTurningMotor(4),
-    LeftShooterFlywheel(7),
-    RightShooterFlywheel(15),
-    OverTheBumperIntakeArm(0),
-    OverTheBumperIntakeFeed(0),
-    UnderTheBumperIntakeRoller(0),
-    ClimberMotor(0),
+    LeftShooterFlywheel(15),
+    RightShooterFlywheel(7),
+    OverTheBumperIntakeArm(31),
+    OverTheBumperIntakeFeed(32),
+    UnderTheBumperIntakeRoller(33),
+    ClimberMotor(34),
 
 }
 

src/main/java/com/frcteam3636/frc2024/subsystems/shooter/Shooter.kt

@@ -3,6 +3,7 @@ package com.frcteam3636.frc2024.subsystems.shooter
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.Subsystem
+import org.littletonrobotics.junction.Logger
 
 object Shooter : Subsystem {
     private val io: ShooterIO = if (RobotBase.isReal()) {
@@ -15,6 +16,7 @@ object Shooter : Subsystem {
 
     override fun periodic() {
         io.updateInputs(inputs)
+        Logger.processInputs("Shooter", inputs)
     }
 
     fun shootCommand(): Command {

src/main/java/com/frcteam3636/frc2024/subsystems/shooter/ShooterIO.kt

@@ -1,12 +1,24 @@
 package com.frcteam3636.frc2024.subsystems.shooter
 
-import org.littletonrobotics.junction.AutoLog
+import edu.wpi.first.math.geometry.Rotation2d
+import org.littletonrobotics.junction.LogTable
+import org.littletonrobotics.junction.inputs.LoggableInputs
 
 
 interface ShooterIO {
-    @AutoLog
-    class ShooterIOInputs {
+    class ShooterIOInputs: LoggableInputs {
+        var leftSpeed = Rotation2d()
+        var rightSpeed = Rotation2d()
 
+        override fun toLog(table: LogTable) {
+            table.put("Left Speed", leftSpeed)
+            table.put("Right Speed", rightSpeed)
+        }
+
+        override fun fromLog(table: LogTable) {
+            leftSpeed = table.get("Left Speed", leftSpeed)[0]
+            rightSpeed = table.get("Right Speed", rightSpeed)[0]
+        }
     }
 
     /** Updates the set of loggable inputs.  */

src/main/java/com/frcteam3636/frc2024/subsystems/shooter/ShooterIOReal.kt

@@ -2,25 +2,39 @@ package com.frcteam3636.frc2024.subsystems.shooter
 
 import com.frcteam3636.frc2024.can.CANSparkMax
 import com.frcteam3636.frc2024.can.REVMotorControllerId
+import com.frcteam3636.frc2024.subsystems.climber.ClimberIOReal
 import com.revrobotics.CANSparkLowLevel
+import edu.wpi.first.math.geometry.Rotation2d
+import edu.wpi.first.math.util.Units
 
 
 class ShooterIOReal : ShooterIO {
 
-    private val left = CANSparkMax(REVMotorControllerId.LeftShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless)
-    private val right = CANSparkMax(REVMotorControllerId.RightShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless)
+    companion object {
+        const val FLYWHEEL_GEAR_RATIO = 1.0
+    }
+
+    private val left = CANSparkMax(REVMotorControllerId.LeftShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless).apply {
+        inverted = true
+        encoder.velocityConversionFactor = Units.rotationsToRadians(1.0) * ClimberIOReal.CLIMBER_GEAR_RATIO / 60
+    }
+
+    private val right = CANSparkMax(REVMotorControllerId.RightShooterFlywheel, CANSparkLowLevel.MotorType.kBrushless).apply {
+        encoder.velocityConversionFactor = Units.rotationsToRadians(1.0) * ClimberIOReal.CLIMBER_GEAR_RATIO / 60
+    }
 
     init {
         left.inverted = true
     }
 
     override fun updateInputs(inputs: ShooterIO.ShooterIOInputs?) {
-        // no-op
+        inputs?.leftSpeed = Rotation2d(left.encoder.velocity)
+        inputs?.rightSpeed = Rotation2d(right.encoder.velocity)
     }
 
     override fun shoot(speed: Double) {
         left.set(speed)
-        right.set(speed * 0.5)
+        right.set(speed)
     }
 
     override fun intake(speed: Double) {