feat: switch I/O implementations per robot model

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

@@ -1,18 +1,25 @@
 package com.frcteam3636.frc2024
 
+import com.frcteam3636.frc2024.subsystems.drivetrain.Drivetrain
+import com.frcteam3636.frc2024.subsystems.intake.Intake
+import com.frcteam3636.frc2024.subsystems.shooter.Shooter
 import edu.wpi.first.hal.FRCNetComm.tInstances
 import edu.wpi.first.hal.FRCNetComm.tResourceType
 import edu.wpi.first.hal.HAL
+import edu.wpi.first.wpilibj.Joystick
 import edu.wpi.first.wpilibj.PowerDistribution
+import edu.wpi.first.wpilibj.Preferences
+import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.util.WPILibVersion
-import edu.wpi.first.wpilibj2.command.Command
 import edu.wpi.first.wpilibj2.command.CommandScheduler
+import edu.wpi.first.wpilibj2.command.button.CommandXboxController
 import org.littletonrobotics.junction.LogFileUtil
 import org.littletonrobotics.junction.LoggedRobot
 import org.littletonrobotics.junction.Logger
 import org.littletonrobotics.junction.networktables.NT4Publisher
 import org.littletonrobotics.junction.wpilog.WPILOGReader
 import org.littletonrobotics.junction.wpilog.WPILOGWriter
+import kotlin.Exception
 
 /**
  * The VM is configured to automatically run this object (which basically functions as a singleton
@@ -26,8 +33,9 @@ import org.littletonrobotics.junction.wpilog.WPILOGWriter
  * renaming the object or package, it will get changed everywhere.)
  */
 object Robot : LoggedRobot() {
-
-    private var autonomousCommand: Command? = null
+    private val controller = CommandXboxController(0)
+    private val joystickLeft = Joystick(0)
+    private val joystickRight = Joystick(1)
 
     override fun robotInit() {
         // Report the use of the Kotlin Language for "FRC Usage Report" statistics
@@ -68,41 +76,57 @@ object Robot : LoggedRobot() {
         Logger.start() // Start logging! No more data receivers, replay sources, or metadata values
         // may be added.
 
-        // Access the RobotContainer object so that it is initialized. This will perform all our
-        // button bindings, and put our autonomous chooser on the dashboard.
-        RobotContainer
+        // initialize and register our subsystems
+        Shooter.register()
+        Drivetrain.register()
+        Intake.register()
+
+        // Configure our button and joystick bindings
+        configureBindings()
+    }
+
+    private fun configureBindings() {
+        controller.x().whileTrue(Shooter.shootCommand())
+        controller.b().whileTrue(Intake.intakeCommand())
+        Drivetrain.defaultCommand =
+            Drivetrain.driveWithJoysticks(
+                translationJoystick = joystickLeft,
+                rotationJoystick = joystickRight
+            )
     }
 
     override fun robotPeriodic() {
         CommandScheduler.getInstance().run()
     }
 
-    override fun disabledInit() {}
-
-    override fun disabledPeriodic() {}
-
     override fun autonomousInit() {
-        autonomousCommand = RobotContainer.getAutonomousCommand()
-        autonomousCommand?.schedule()
+        // TODO: start autonomous command
     }
 
-    override fun autonomousPeriodic() {}
-
     override fun teleopInit() {
-        autonomousCommand?.cancel()
+        // TODO: cancel autonomous command
     }
 
-    /** This method is called periodically during operator control. */
-    override fun teleopPeriodic() {}
-
     override fun testInit() {
         // Cancels all running commands at the start of test mode.
         CommandScheduler.getInstance().cancelAll()
     }
 
-    override fun testPeriodic() {}
-
-    override fun simulationInit() {}
+    // A model of robot, depending on where we're deployed to.
+    enum class Model {
+        SIMULATION,
+        PRACTICE,
+        COMPETITION,
+    }
 
-    override fun simulationPeriodic() {}
+    // The model of this robot.
+    val model: Model = if (RobotBase.isSimulation()) {
+        Model.SIMULATION
+    } else {
+        when (val key = Preferences.getString("Model", "competition")) {
+            "competition" -> Model.COMPETITION
+            "practice" -> Model.PRACTICE
+            else -> throw Exception("invalid model found in preferences: $key")
+        }
+    }
 }

src/main/java/com/frcteam3636/frc2024/subsystems/climber/Climber.kt

@@ -1,16 +1,16 @@
 package com.frcteam3636.frc2024.subsystems.climber
 
+import com.frcteam3636.frc2024.Robot
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj2.command.Subsystem
 import org.littletonrobotics.junction.Logger
 
 class Climber : Subsystem {
-    private var io: ClimberIO =
-        if (RobotBase.isReal()) {
-            ClimberIOReal()
-        } else {
-            TODO()
-        }
+    private var io: ClimberIO = when (Robot.model) {
+        Robot.Model.PRACTICE -> ClimberIOReal()
+        Robot.Model.COMPETITION -> ClimberIOReal()
+        Robot.Model.SIMULATION -> TODO()
+    }
     var inputs = ClimberIO.ClimberInputs()
 
     override fun periodic() {

src/main/java/com/frcteam3636/frc2024/subsystems/drivetrain/Drivetrain.kt

@@ -2,6 +2,7 @@ package com.frcteam3636.frc2024.subsystems.drivetrain
 
 import com.frcteam3636.frc2024.CTREMotorControllerId
 import com.frcteam3636.frc2024.REVMotorControllerId
+import com.frcteam3636.frc2024.Robot
 import com.frcteam3636.frc2024.utils.swerve.PerCorner
 import com.frcteam3636.frc2024.utils.swerve.cornerStatesToChassisSpeeds
 import com.frcteam3636.frc2024.utils.swerve.toCornerSwerveModuleStates
@@ -26,12 +27,11 @@ import org.littletonrobotics.junction.inputs.LoggableInputs
 
 // A singleton object representing the drivetrain.
 object Drivetrain : Subsystem {
-    private val io =
-        if (RobotBase.isReal()) {
-            DrivetrainIOReal()
-        } else {
-            DrivetrainIOSim()
-        }
+    private val io = when (Robot.model) {
+        Robot.Model.SIMULATION -> DrivetrainIOSim()
+        Robot.Model.COMPETITION -> DrivetrainIOComp()
+        Robot.Model.PRACTICE -> TODO()
+    }
     private val inputs = DrivetrainIO.Inputs()
 
     // Create swerve drivetrain kinematics using the translation parts of the module positions.
@@ -168,7 +168,7 @@ abstract class DrivetrainIO {
     }
 }
 
-class DrivetrainIOReal : DrivetrainIO() {
+class DrivetrainIOComp : DrivetrainIO() {
     override val gyro = GyroNavX()
     override val modules =
         MODULE_CAN_IDS.zip(MODULE_POSITIONS).map { (can, pose) ->

src/main/java/com/frcteam3636/frc2024/subsystems/intake/Intake.kt

@@ -1,16 +1,15 @@
 package com.frcteam3636.frc2024.subsystems.intake
 
-import edu.wpi.first.wpilibj.RobotBase
+import com.frcteam3636.frc2024.Robot
 import edu.wpi.first.wpilibj2.command.*
 import org.littletonrobotics.junction.Logger
 
 object Intake : Subsystem {
-    private var io: IntakeIO =
-        if (RobotBase.isReal()) {
-            IntakeIOReal()
-        } else {
-            IntakeIOSim()
-        }
+    private var io: IntakeIO = when (Robot.model) {
+        Robot.Model.SIMULATION -> IntakeIOSim()
+        Robot.Model.COMPETITION -> IntakeIOReal()
+        Robot.Model.PRACTICE -> IntakeIOReal()
+    }
 
     var inputs = IntakeIO.IntakeInputs()
 
@@ -30,9 +29,9 @@ object Intake : Subsystem {
 
     fun indexCommand(): Command {
         return SequentialCommandGroup(
-            runOnce({ io.setUnderBumperRoller(1.0) }),
+            runOnce { io.setUnderBumperRoller(1.0) },
             WaitCommand(1.0),
-            runOnce({ io.setUnderBumperRoller(0.0) })
+            runOnce { io.setUnderBumperRoller(0.0) }
         )
     }
 }

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

@@ -1,11 +1,11 @@
 package com.frcteam3636.frc2024.subsystems.shooter
 
 import com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC
+import com.frcteam3636.frc2024.Robot
 import com.frcteam3636.frc2024.utils.math.PIDController
 import com.frcteam3636.frc2024.utils.math.PIDGains
 import edu.wpi.first.math.filter.SlewRateLimiter
 import edu.wpi.first.math.geometry.Rotation2d
-import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.shuffleboard.BuiltInWidgets
 import edu.wpi.first.wpilibj.shuffleboard.Shuffleboard
 import edu.wpi.first.wpilibj2.command.Command
@@ -15,14 +15,10 @@ import org.littletonrobotics.junction.Logger
 
 object Shooter : Subsystem {
 
-    const val ACCELERATION_PROFILE = 0.0
-    const val VELOCITY_PROFILE = 0.0
-    const val JERK_PROFILE = 0.0
-
-    private val io: ShooterIO = if (RobotBase.isReal()) {
-        ShooterIOReal()
-    } else {
-        TODO()
+    private val io: ShooterIO = when (Robot.model) {
+        Robot.Model.SIMULATION -> TODO()
+        Robot.Model.COMPETITION -> ShooterIOComp()
+        Robot.Model.PRACTICE -> TODO()
     }
 
     private val pidController = PIDController(PIDGains(0.1, 0.0, 0.0))
@@ -67,3 +63,8 @@ object Shooter : Subsystem {
     fun intakeCommand(): Command =
         startEnd({ io.intake(1.0) }, { io.intake(0.0) })
 }
+
+internal const val ACCELERATION_PROFILE = 0.0
+internal const val VELOCITY_PROFILE = 0.0
+internal const val JERK_PROFILE = 0.0
+

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

@@ -54,7 +54,7 @@ interface ShooterIO {
     fun setPivotControlRequest(control: ControlRequest)
 }
 
-class ShooterIOReal : ShooterIO {
+class ShooterIOComp : ShooterIO {
 
     internal companion object Constants {
         const val FLYWHEEL_GEAR_RATIO = 1.0