Team4388/2019-Hit-or-Miss
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update to use sparks (WIP)

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ryan123rudder
2019-09-04 16:45:04 -06:00
parent de5eef4db5
commit c45f60122b
1 changed files with 17 additions and 4 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Arm.java
+17 -4
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@@ -38,6 +38,12 @@ import edu.wpi.first.wpilibj.command.Subsystem;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj.Timer; import edu.wpi.first.wpilibj.Timer;
import com.revrobotics.CANEncoder;
import com.revrobotics.CANPIDController;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
/** /**
* Controls a single joint arm. Uses a joystick to change a MM or PID target position for the arm, * Controls a single joint arm. Uses a joystick to change a MM or PID target position for the arm,
* and uses the d-pad on the opperator controller to move the arm and wrist to preset positions. * and uses the d-pad on the opperator controller to move the arm and wrist to preset positions.
@@ -81,8 +87,11 @@ public class Arm extends Subsystem implements ControlLoopable
// Motor controllers // Motor controllers
private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>(); private ArrayList<TalonSRXEncoder> motorControllers = new ArrayList<TalonSRXEncoder>();
public TalonSRXEncoder motor1; public CANSparkMax motor1;
private TalonSRX motor2; private CANSparkMax motor2;
private CANPIDController motor1_Controller;
// PID controller and params // PID controller and params
private MPTalonPIDController mpController; private MPTalonPIDController mpController;
@@ -103,6 +112,7 @@ public class Arm extends Subsystem implements ControlLoopable
public static final double RampRate = 0;// 0.0; public static final double RampRate = 0;// 0.0;
public static final int A_value = 400; public static final int A_value = 400;
public static final int CV_value = 500; public static final int CV_value = 500;
@@ -134,9 +144,12 @@ public class Arm extends Subsystem implements ControlLoopable
public Arm() { public Arm() {
try { try {
motor1 = TalonSRXFactory.createTalonEncoder(RobotMap.ARM_MOTOR1_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder); motor1 = new CANSparkMax(RobotMap.ARM_MOTOR1_ID, MotorType.kBrushless);
motor2 = TalonSRXFactory.createPermanentSlaveTalon(RobotMap.ARM_MOTOR2_ID, RobotMap.ARM_MOTOR1_ID); motor2 = new CANSparkMax(RobotMap.ARM_MOTOR2_ID, MotorType.kBrushless);
//motor1 = TalonSRXFactory.createTalonEncoder(RobotMap.ARM_MOTOR1_ID, (ENCODER_TICKS_TO_INCHES), false, FeedbackDevice.QuadEncoder);
//motor2 = TalonSRXFactory.createPermanentSlaveTalon(RobotMap.ARM_MOTOR2_ID, RobotMap.ARM_MOTOR1_ID);
motor1_Controller = new CANPIDController(motor1);
motor1.setInverted(true); motor1.setInverted(true);
motor2.setInverted(true); motor2.setInverted(true);