Turret Hook

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

@@ -41,7 +41,7 @@ public class RobotContainer
     private final CommandXboxController          _operator   = new CommandXboxController(1);
     private final Drive                          _drivetrain = TunerConstants.createDrivetrain();
     private final Intake                         _intake     = new Intake();
-    private final Shooter                        _shooter    = new Shooter();
+    private final Shooter                        _shooter    = new Shooter(_drivetrain::getState);
     private final TestOperation                  _testop     = new TestOperation();
     // private final Turret _turret = new Turret(_drivetrain::getState);
     private final Autos _autos = new Autos(_drivetrain);
@@ -106,11 +106,12 @@ private void configureTestBindings()
         _testop.add("feeder", _shooter._feeder.getHook());
         _testop.add("flywheel", _shooter._flywheel.getHook());
         _testop.add("hood", _shooter._hood.getHook());
-        // turret
+        _testop.add("turret", _shooter._turret.getHook());
         // climber
 
         _testop.connect(0, "intake", "intake-extend");
         _testop.connect(1, "feeder");
+        _testop.connect(2, "turret");
         _testop.connect(3, "flywheel", "hood");
 
         _operator.leftBumper().whileTrue(_testop.cmd_shift());

src/main/java/frc/robot/subsystems/shooter/Shooter.java

@@ -1,11 +1,16 @@
 package frc.robot.subsystems.shooter;
 
+import java.util.function.Supplier;
+
+import com.ctre.phoenix6.swerve.SwerveDrivetrain.SwerveDriveState;
+
 import edu.wpi.first.epilogue.Logged;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.ShooterConstants;
 import frc.robot.subsystems.shooter.Hood.HoodPosition;
+import frc.robot.subsystems.shooter.Turret.TurretState;
 
 @Logged
 public class Shooter extends SubsystemBase
@@ -55,18 +60,21 @@ public Command passCmd()
     public final Flywheel _flywheel;
     public final Feeder   _feeder;
     public final Hood     _hood;
+    public final Turret   _turret;
     private ShooterState  _state;
 
-    public Shooter()
+    public Shooter(Supplier<SwerveDriveState> swerveStateSupplier)
     {
         _flywheel = new Flywheel();
         _feeder   = new Feeder();
         _hood     = new Hood();
+        _turret   = new Turret(swerveStateSupplier);
         _state    = ShooterState.Idle;
 
         _hood.setHoodPosition(HoodPosition.Shoot);
         _feeder.set(false);
         _flywheel.stop();
+        _turret.setTurretState(TurretState.Idle);
     }
 
     @Override