mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
some aimtocenter stuff, unfinished + has errors
This commit is contained in:
evan
@@ -24,118 +24,167 @@ public class RobotMap {
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public RobotMap() {
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configureLEDMotorControllers();
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//configureSwerveMotorControllers();
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// configureSwerveMotorControllers();
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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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void configureLEDMotorControllers() {
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}
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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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// public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
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// public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
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// public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
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public final WPI_TalonFX leftFrontSteerMotor;
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// public final WPI_TalonFX leftFrontSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
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// public final WPI_TalonFX leftFrontWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightFrontSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
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// public final WPI_TalonFX rightFrontWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
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// public final WPI_TalonFX leftBackSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX leftBackWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
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// public final WPI_TalonFX rightBackSteerMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
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// public final WPI_TalonFX rightBackWheelMotor = new
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// WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
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// public final CANCoder leftFrontEncoder = new
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// CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightFrontEncoder = new
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// CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
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// public final CANCoder leftBackEncoder = new
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// CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
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// public final CANCoder rightBackEncoder = new
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// CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
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// void configureSwerveMotorControllers() {
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// leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
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// leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
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// leftFrontEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightFrontEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
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// leftBackEncoder.configMagnetOffset(SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
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// rightBackEncoder.configMagnetOffset(SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
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// leftFrontSteerMotor.configFactoryDefault();
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// leftFrontWheelMotor.configFactoryDefault();
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// rightFrontSteerMotor.configFactoryDefault();
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// rightFrontWheelMotor.configFactoryDefault();
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// leftBackSteerMotor.configFactoryDefault();
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// leftBackWheelMotor.configFactoryDefault();
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// rightBackSteerMotor.configFactoryDefault();
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// rightBackWheelMotor.configFactoryDefault();
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// leftFrontSteerMotor.configFactoryDefault();
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// leftFrontWheelMotor.configFactoryDefault();
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// rightFrontSteerMotor.configFactoryDefault();
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// rightFrontWheelMotor.configFactoryDefault();
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// leftBackSteerMotor.configFactoryDefault();
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// leftBackWheelMotor.configFactoryDefault();
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// rightBackSteerMotor.configFactoryDefault();
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// rightBackWheelMotor.configFactoryDefault();
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// leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// // config cancoder as remote encoder for swerve steer motors
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//leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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//leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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//rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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//rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(), RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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//}
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// // config cancoder as remote encoder for swerve steer motors
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// leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(),
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// RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(),
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// RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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// rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(),
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// RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
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// SwerveDriveConstants.SWERVE_TIMEOUT_MS);
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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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//Shooter Config
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/*Boom Boom Subsystem*/
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// Shooter Config
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/* Boom Boom Subsystem */
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public final WPI_TalonFX shooterFalconLeft = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_LEFT_CAN_ID);
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public final WPI_TalonFX shooterFalconRight = new WPI_TalonFX(ShooterConstants.SHOOTER_FALCON_RIGHT_CAN_ID);
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public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
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// Create motor CANSparkMax
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void ConfigureShooterMotorControllers() {
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//LEFT FALCON
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// LEFT FALCON
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shooterFalconLeft.configFactoryDefault();
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shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
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shooterFalconLeft.setInverted(true);
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shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
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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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ShooterConstants.SHOOTER_TIMEOUT_MS);
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//RIGHT FALCON
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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.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, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
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shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configClosedLoopPeriod(0,ShooterConstants.CLOSED_LOOP_TIME_MS, ShooterConstants.SHOOTER_TIMEOUT_MS);
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shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
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/*Turret Subsytem*/
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shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2));
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shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4));
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// m_shooterFalconRight.configPeakOutputForward(0,
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// ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
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shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX,
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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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ShooterConstants.SHOOTER_TIMEOUT_MS);
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/* Turret Subsytem */
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shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2));
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shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4));
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}
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}
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