mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
Merge branch 'testRoboReveal' into Climber
This commit is contained in:
Ryan Manley
@@ -10,16 +10,18 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.sensors.CANCoder;
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import com.ctre.phoenix.sensors.WPI_Pigeon2;
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import com.ctre.phoenix.sensors.WPI_PigeonIMU;
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import com.ctre.phoenix.motorcontrol.NeutralMode;
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import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
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import com.ctre.phoenix.motorcontrol.StatorCurrentLimitConfiguration;
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import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
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import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
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import com.ctre.phoenix.sensors.CANCoder;
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import com.ctre.phoenix.sensors.WPI_Pigeon2;
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import com.revrobotics.CANSparkMax;
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import com.revrobotics.CANSparkMax.IdleMode;
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import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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import edu.wpi.first.wpilibj.CAN;
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import edu.wpi.first.networktables.NetworkTableType;
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import edu.wpi.first.wpilibj.DigitalInput;
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import edu.wpi.first.wpilibj.Servo;
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import edu.wpi.first.wpilibj.motorcontrol.Spark;
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@@ -40,15 +42,19 @@ import frc4388.robot.subsystems.SwerveModule;
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public class RobotMap {
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public RobotMap() {
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configureLEDMotorControllers();
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// configureLEDMotorControllers();
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configureSwerveMotorControllers();
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configureShooterMotorControllers();
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configureIntakeMotors();
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configureExtenderMotors();
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configureSerializerMotors();
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configureStorageMotors();
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}
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/* LED Subsystem */
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public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
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// public final Spark LEDController = new Spark(LEDConstants.LED_SPARK_ID);
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void configureLEDMotorControllers() {}
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// void configureLEDMotorControllers() {}
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/* Swerve Subsystem */
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public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
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@@ -143,6 +149,28 @@ public class RobotMap {
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rightBackSteerMotor.setNeutralMode(mode);
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rightBackWheelMotor.setNeutralMode(mode);// Coast
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// current limits
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leftFrontSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
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rightFrontSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
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leftBackSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
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rightBackSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
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leftFrontWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
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rightFrontWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
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leftBackWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
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rightBackWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
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leftFrontSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
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rightFrontSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
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leftBackSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
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rightBackSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
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leftFrontWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
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rightFrontWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
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leftBackWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
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rightBackWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
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leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder,
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SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
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leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder,
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@@ -165,7 +193,7 @@ public class RobotMap {
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rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
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RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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}
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}
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/* Climb Subsystem */
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public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOULDER_ID); // TODO
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@@ -186,7 +214,7 @@ public class RobotMap {
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public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
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// hood subsystem
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public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
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public final CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
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// Create motor CANSparkMax
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void configureShooterMotorControllers() {
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@@ -202,13 +230,15 @@ public class RobotMap {
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG,
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shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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// RIGHT FALCON
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shooterFalconRight.setInverted(false);
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shooterFalconRight.setNeutralMode(NeutralMode.Coast);
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shooterFalconRight.configFactoryDefault();
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shooterFalconRight.setNeutralMode(NeutralMode.Coast);
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shooterFalconRight.setInverted(false);
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shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
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// m_shooterFalconRight.configPeakOutputForward(0,
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@@ -217,34 +247,56 @@ public class RobotMap {
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG,
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shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
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ShooterConstants.SHOOTER_TIMEOUT_MS);
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// /* Turret Subsytem */
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// shooterFalconRight.configStatorCurrentLimit(new
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// StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
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// out of our ass anymore
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// shooterFalconLeft.configSupplyCurrentLimit(new
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// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
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// numbers out of our ass anymore
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shooterFalconRight.follow(shooterFalconLeft);
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// turret
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shooterTurret.restoreFactoryDefaults();
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shooterTurret.setIdleMode(IdleMode.kBrake);
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shooterTurret.setInverted(true);
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// hood subsystem
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angleAdjusterMotor.restoreFactoryDefaults();
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angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
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angleAdjusterMotor.setInverted(true);
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}
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/* Serializer Subsystem */
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public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
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// public final CANSparkMax serializerShooterBelt = new CANSparkMax(SerializerConstants.SERIALIZER_SHOOTER_BELT, MotorType.kBrushless);
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public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM);
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/* Intake Subsystem */
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public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
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public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
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/* Storage Subsystem */
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public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
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public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
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public final DigitalInput beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
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void configureIntakeMotors() {
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intakeMotor.configFactoryDefault();
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intakeMotor.setInverted(false);
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intakeMotor.setNeutralMode(NeutralMode.Coast);
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intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE);
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intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE);
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}
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void configureExtenderMotors() {
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extenderMotor.restoreFactoryDefaults();
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extenderMotor.setInverted(true);
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extenderMotor.setIdleMode(IdleMode.kBrake);
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}
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void configureSerializerMotors() {
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serializerBelt.restoreFactoryDefaults();
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}
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/* Storage Subsystem */
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public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
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void configureStorageMotors() {
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storageMotor.restoreFactoryDefaults();
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}
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}
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