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

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aarav18
2022-03-12 20:43:39 -07:00
parent 1417118c72 26fe6f6500
commit 42a8f0672e
5 changed files with 56 additions and 52 deletions
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src/main/java/frc4388/robot/RobotMap.java
+45 -44
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@@ -36,7 +36,7 @@ public class RobotMap {
public RobotMap() {
// configureLEDMotorControllers();
configureSwerveMotorControllers();
// configureShooterMotorControllers();
configureShooterMotorControllers();
configureIntakeMotors();
configureExtenderMotors();
configureSerializerMotors();
@@ -190,59 +190,60 @@ public class RobotMap {
// // 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);
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
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);
// hood subsystem
public CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
// // Create motor CANSparkMax
// void configureShooterMotorControllers() {
// Create motor CANSparkMax
void configureShooterMotorControllers() {
// // LEFT FALCON
// shooterFalconLeft.configFactoryDefault();
// shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
// shooterFalconLeft.setInverted(true);
// shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// LEFT FALCON
shooterFalconLeft.configFactoryDefault();
shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
shooterFalconLeft.setInverted(true);
shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
// // RIGHT FALCON
// shooterFalconRight.setInverted(false);
// shooterFalconRight.setNeutralMode(NeutralMode.Coast);
// shooterFalconRight.configFactoryDefault();
// shooterFalconRight.configOpenloopRamp(1, 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)
// shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
// ShooterConstants.SHOOTER_TIMEOUT_MS);
// RIGHT FALCON
shooterFalconRight.setInverted(false);
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
shooterFalconRight.configFactoryDefault();
shooterFalconRight.configOpenloopRamp(1, 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)
shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
ShooterConstants.SHOOTER_TIMEOUT_MS);
// shooterFalconRight.follow(shooterFalconLeft);
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
// 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
// // hood subsystem