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

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This commit is contained in:
Ryan Manley
2022-03-12 20:40:07 -07:00
parent ae9890f34b e23ad1c0b6
commit 26fe6f6500
8 changed files with 105 additions and 57 deletions
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src/main/java/frc4388/robot/RobotMap.java
+24 -3
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@@ -37,6 +37,10 @@ public class RobotMap {
// configureLEDMotorControllers();
configureSwerveMotorControllers();
configureShooterMotorControllers();
configureIntakeMotors();
configureExtenderMotors();
configureSerializerMotors();
configureStorageMotors();
}
/* LED Subsystem */
@@ -182,7 +186,7 @@ public class RobotMap {
rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
}
// // Shooter Config
// /* Boom Boom Subsystem */
@@ -258,15 +262,32 @@ public class RobotMap {
public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
void configureIntakeMotors(){
void configureIntakeMotors() {
intakeMotor.configFactoryDefault();
intakeMotor.setInverted(false);
intakeMotor.setNeutralMode(NeutralMode.Coast);
intakeMotor.configSupplyCurrentLimit(IntakeConstants.SUPPLY_CURRENT_LIMIT_CONFIG_INTAKE);
intakeMotor.configStatorCurrentLimit(IntakeConstants.STATOR_CURRENT_LIMIT_CONFIG_INTAKE);
}
void configureExtenderMotors() {
extenderMotor.restoreFactoryDefaults();
extenderMotor.setInverted(true);
extenderMotor.setIdleMode(IdleMode.kBrake);
}
void configureSerializerMotors() {
serializerBelt.restoreFactoryDefaults();
}
/* Storage Subsystem */
public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
public final CANSparkMax storageMotor = new CANSparkMax(StorageConstants.STORAGE_CAN_ID, MotorType.kBrushless);
// public final DigitalInput beamShooter = new DigitalInput(StorageConstants.BEAM_SENSOR_SHOOTER);
// public final DigitalInput beamIntake = new DigitalInput(StorageConstants.BEAM_SENSOR_INTAKE);
void configureStorageMotors() {
storageMotor.restoreFactoryDefaults();
}
}