mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 00:38:05 -06:00
climber subsystem 3.0
This commit is contained in:
aarav18
@@ -49,6 +49,7 @@ public class RobotMap {
|
||||
configureExtenderMotors();
|
||||
configureSerializerMotors();
|
||||
configureStorageMotors();
|
||||
configureClimberMotors();
|
||||
}
|
||||
|
||||
/* LED Subsystem */
|
||||
@@ -56,29 +57,30 @@ public class RobotMap {
|
||||
|
||||
// void configureLEDMotorControllers() {}
|
||||
|
||||
/* Swerve Subsystem */
|
||||
public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
|
||||
public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
|
||||
public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
|
||||
public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
|
||||
public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
|
||||
public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
|
||||
public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
|
||||
public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
|
||||
public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
|
||||
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
|
||||
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
|
||||
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
|
||||
|
||||
public final WPI_Pigeon2 gyro = new WPI_Pigeon2(SwerveDriveConstants.GYRO_ID);
|
||||
/* Swerve Subsystem */
|
||||
public final WPI_TalonFX leftFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ID);
|
||||
public final WPI_TalonFX leftFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_FRONT_WHEEL_CAN_ID);
|
||||
public final WPI_TalonFX rightFrontSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ID);
|
||||
public final WPI_TalonFX rightFrontWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_FRONT_WHEEL_CAN_ID);
|
||||
public final WPI_TalonFX leftBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ID);
|
||||
public final WPI_TalonFX leftBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.LEFT_BACK_WHEEL_CAN_ID);
|
||||
public final WPI_TalonFX rightBackSteerMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ID);
|
||||
public final WPI_TalonFX rightBackWheelMotor = new WPI_TalonFX(SwerveDriveConstants.RIGHT_BACK_WHEEL_CAN_ID);
|
||||
public final CANCoder leftFrontEncoder = new CANCoder(SwerveDriveConstants.LEFT_FRONT_STEER_CAN_ENCODER_ID);
|
||||
public final CANCoder rightFrontEncoder = new CANCoder(SwerveDriveConstants.RIGHT_FRONT_STEER_CAN_ENCODER_ID);
|
||||
public final CANCoder leftBackEncoder = new CANCoder(SwerveDriveConstants.LEFT_BACK_STEER_CAN_ENCODER_ID);
|
||||
public final CANCoder rightBackEncoder = new CANCoder(SwerveDriveConstants.RIGHT_BACK_STEER_CAN_ENCODER_ID);
|
||||
|
||||
public SwerveModule leftFront;
|
||||
public SwerveModule leftBack;
|
||||
public SwerveModule rightFront;
|
||||
public SwerveModule rightBack;
|
||||
public final WPI_Pigeon2 gyro = new WPI_Pigeon2(SwerveDriveConstants.GYRO_ID);
|
||||
|
||||
void configureSwerveMotorControllers() {
|
||||
public SwerveModule leftFront;
|
||||
public SwerveModule leftBack;
|
||||
public SwerveModule rightFront;
|
||||
public SwerveModule rightBack;
|
||||
|
||||
void configureSwerveMotorControllers() {
|
||||
|
||||
leftFrontSteerMotor.configFactoryDefault();
|
||||
leftFrontWheelMotor.configFactoryDefault();
|
||||
rightFrontSteerMotor.configFactoryDefault();
|
||||
@@ -87,58 +89,58 @@ public class RobotMap {
|
||||
leftBackWheelMotor.configFactoryDefault();
|
||||
rightBackSteerMotor.configFactoryDefault();
|
||||
rightBackWheelMotor.configFactoryDefault();
|
||||
|
||||
|
||||
leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
|
||||
leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
|
||||
leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
|
||||
leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
|
||||
NeutralMode mode = NeutralMode.Coast;
|
||||
leftFrontSteerMotor.setNeutralMode(NeutralMode.Brake);
|
||||
leftFrontWheelMotor.setNeutralMode(mode);// Coast
|
||||
@@ -148,7 +150,7 @@ public class RobotMap {
|
||||
leftBackWheelMotor.setNeutralMode(mode);// Coast
|
||||
rightBackSteerMotor.setNeutralMode(NeutralMode.Brake);
|
||||
rightBackWheelMotor.setNeutralMode(mode);// Coast
|
||||
|
||||
|
||||
// current limits
|
||||
|
||||
leftFrontSteerMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_STEER);
|
||||
@@ -160,7 +162,7 @@ public class RobotMap {
|
||||
rightFrontWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
|
||||
leftBackWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
|
||||
rightBackWheelMotor.configSupplyCurrentLimit(SwerveDriveConstants.SUPPLY_CURRENT_LIMIT_CONFIG_WHEEL);
|
||||
|
||||
|
||||
leftFrontSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
|
||||
rightFrontSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
|
||||
leftBackSteerMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_STEER);
|
||||
@@ -170,55 +172,56 @@ public class RobotMap {
|
||||
rightFrontWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
|
||||
leftBackWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
|
||||
rightBackWheelMotor.configStatorCurrentLimit(SwerveDriveConstants.STATOR_CURRENT_LIMIT_CONFIG_WHEEL);
|
||||
|
||||
|
||||
leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder,
|
||||
SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
|
||||
SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
|
||||
leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder,
|
||||
SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
|
||||
SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
|
||||
rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder,
|
||||
SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
|
||||
SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
|
||||
rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder,
|
||||
SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
|
||||
|
||||
SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
|
||||
|
||||
// config cancoder as remote encoder for swerve steer motors
|
||||
leftFrontSteerMotor.configRemoteFeedbackFilter(leftFrontEncoder.getDeviceID(),
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
leftBackSteerMotor.configRemoteFeedbackFilter(leftBackEncoder.getDeviceID(),
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightFrontSteerMotor.configRemoteFeedbackFilter(rightFrontEncoder.getDeviceID(),
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
rightBackSteerMotor.configRemoteFeedbackFilter(rightBackEncoder.getDeviceID(),
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
RemoteSensorSource.CANCoder, SwerveDriveConstants.REMOTE_0,
|
||||
SwerveDriveConstants.SWERVE_TIMEOUT_MS);
|
||||
}
|
||||
|
||||
/* Climb Subsystem */
|
||||
public final WPI_TalonFX shoulder = new WPI_TalonFX(ClimberConstants.SHOULDER_ID); // TODO
|
||||
public final WPI_TalonFX elbow = new WPI_TalonFX(ClimberConstants.ELBOW_ID); // TODO
|
||||
/* Climb Subsystem */
|
||||
public final WPI_TalonFX elbow = new WPI_TalonFX(ClimberConstants.ELBOW_ID); // TODO
|
||||
|
||||
/* Hooks Subsystem */
|
||||
// public final CANSparkMax leftClaw = new CANSparkMax(ClawConstants.LEFT_CLAW_ID, MotorType.kBrushless);
|
||||
// public final CANSparkMax rightClaw = new CANSparkMax(ClawConstants.RIGHT_CLAW_ID, MotorType.kBrushless);
|
||||
public final Servo leftClaw = new Servo(1); // TODO: find actual channel
|
||||
public final Servo rightClaw = new Servo(2); // TODO: find actual channel
|
||||
private void configureClimberMotors() {
|
||||
elbow.configFactoryDefault();
|
||||
elbow.setNeutralMode(NeutralMode.Brake);
|
||||
}
|
||||
/* Hooks Subsystem */
|
||||
public final Servo leftClaw = new Servo(1);
|
||||
public final Servo rightClaw = new Servo(2);
|
||||
|
||||
// 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);
|
||||
// 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
|
||||
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
|
||||
// turret subsystem
|
||||
public final CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
|
||||
|
||||
// hood subsystem
|
||||
public final CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
|
||||
|
||||
// Create motor CANSparkMax
|
||||
void configureShooterMotorControllers() {
|
||||
// hood subsystem
|
||||
public final CANSparkMax angleAdjusterMotor = new CANSparkMax(ShooterConstants.SHOOTER_ANGLE_ADJUST_ID, MotorType.kBrushless);
|
||||
|
||||
// Create motor CANSparkMax
|
||||
void configureShooterMotorControllers() {
|
||||
|
||||
// LEFT FALCON
|
||||
shooterFalconLeft.configFactoryDefault();
|
||||
shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
|
||||
@@ -227,14 +230,14 @@ public class RobotMap {
|
||||
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);
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
shooterFalconLeft.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
shooterFalconLeft.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
|
||||
// RIGHT FALCON
|
||||
shooterFalconRight.configFactoryDefault();
|
||||
shooterFalconRight.setNeutralMode(NeutralMode.Coast);
|
||||
@@ -244,59 +247,59 @@ public class RobotMap {
|
||||
// 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);
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
shooterFalconRight.configClosedLoopPeriod(0, ShooterConstants.CLOSED_LOOP_TIME_MS,
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG_SHOOTER,
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
shooterFalconRight.configStatorCurrentLimit(ShooterConstants.STATOR_CURRENT_LIMIT_CONFIG_SHOOTER,
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
|
||||
ShooterConstants.SHOOTER_TIMEOUT_MS);
|
||||
|
||||
shooterFalconRight.follow(shooterFalconLeft);
|
||||
|
||||
|
||||
// turret
|
||||
shooterTurret.restoreFactoryDefaults();
|
||||
shooterTurret.setIdleMode(IdleMode.kBrake);
|
||||
shooterTurret.setInverted(true);
|
||||
|
||||
|
||||
// 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);
|
||||
|
||||
/* Intake Subsystem */
|
||||
public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
|
||||
public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
|
||||
/* Serializer Subsystem */
|
||||
public final CANSparkMax serializerBelt = new CANSparkMax(SerializerConstants.SERIALIZER_BELT, MotorType.kBrushless);
|
||||
public final DigitalInput serializerBeam = new DigitalInput(SerializerConstants.SERIALIZER_BELT_BEAM);
|
||||
|
||||
void configureIntakeMotors() {
|
||||
/* Intake Subsystem */
|
||||
public final WPI_TalonFX intakeMotor = new WPI_TalonFX(IntakeConstants.INTAKE_MOTOR);
|
||||
public final CANSparkMax extenderMotor = new CANSparkMax(IntakeConstants.EXTENDER_MOTOR, MotorType.kBrushless);
|
||||
|
||||
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 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);
|
||||
|
||||
|
||||
void configureStorageMotors() {
|
||||
storageMotor.restoreFactoryDefaults();
|
||||
}
|
||||
|
||||
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user