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random code cleanup shtuff

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aarav18
2022-03-16 11:22:51 -06:00
parent ca4d87977a
commit 35e6515a74
7 changed files with 56 additions and 50 deletions
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src/main/java/frc4388/robot/RobotMap.java
+16 -24
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@@ -188,16 +188,16 @@ public class RobotMap {
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
}
// // Shooter Config
// /* Boom Boom Subsystem */
// Shooter Config
/* Boom Boom Subsystem */
public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
// // turret subsystem
// turret subsystem
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
// hood subsystem
public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
public final CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// Create motor CANSparkMax
void configureShooterMotorControllers() {
@@ -219,9 +219,9 @@ public class RobotMap {
ShooterConstants.SHOOTER_TIMEOUT_MS);
// RIGHT FALCON
shooterFalconRight.setInverted(false);
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.configFactoryDefault();
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.setInverted(false);
shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
// m_shooterFalconRight.configPeakOutputForward(0,
@@ -236,24 +236,18 @@ public class RobotMap {
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.follow(shooterFalconLeft);
// }
// // /* Turret Subsytem */
// shooterFalconRight.configStatorCurrentLimit(new
// StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers
// out of our ass anymore
// shooterFalconLeft.configSupplyCurrentLimit(new
// SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull
// // numbers out of our ass anymore
// turret
shooterTurret.restoreFactoryDefaults();
shooterTurret.setIdleMode(IdleMode.kBrake);
shooterTurret.setInverted(true);
// // hood subsystem
// hood subsystem
angleAdjusterMotor.restoreFactoryDefaults();
angleAdjusterMotor.setIdleMode(IdleMode.kBrake);
angleAdjusterMotor.setInverted(true);
}
/* Serializer Subsystem */
public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM);
@@ -277,14 +271,12 @@ public class RobotMap {
extenderMotor.setIdleMode(IdleMode.kBrake);
}
void configureSerializerMotors() {
serializerBelt.restoreFactoryDefaults();
}
void configureSerializerMotors() {
serializerBelt.restoreFactoryDefaults();
}
/* Storage Subsystem */
/* Storage Subsystem */
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();