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Merge branch 'Shooter' of https://github.com/Team4388/2022NoWayHome into Shooter

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This commit is contained in:
‮Aarav Shah
2022-02-17 19:39:10 -07:00
parent dc93277517 f97b24d88e
commit 006f38d786
1 changed files with 7 additions and 3 deletions
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src/main/java/frc4388/robot/RobotMap.java
+7 -3
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@@ -5,11 +5,12 @@
package frc4388.robot; package frc4388.robot;
import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder; import com.ctre.phoenix.sensors.CANCoder;
import com.revrobotics.CANSparkMax; import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMaxLowLevel.MotorType; import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.motorcontrol.Spark; import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.LEDConstants; import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.ShooterConstants; import frc4388.robot.Constants.ShooterConstants;
@@ -119,9 +120,9 @@ public class RobotMap {
//RIGHT FALCON //RIGHT FALCON
shooterFalconRight.configFactoryDefault();
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.setInverted(false); shooterFalconRight.setInverted(false);
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.configFactoryDefault();
shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
//m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary) //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
@@ -130,6 +131,9 @@ public class RobotMap {
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS); shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
/*Turret Subsytem*/ /*Turret Subsytem*/
shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2));
shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4));
} }