stuff happened

2026-06-09 00:38:05 -06:00 · 2022-01-20 18:08:05 -07:00
parent 06091a9bd9
commit a4787e0e30
8 changed files with 306 additions and 1 deletions
@@ -0,0 +1,69 @@
+// Copyright (c) FIRST and other WPILib contributors.
+// Open Source Software; you can modify and/or share it under the terms of
+// the WPILib BSD license file in the root directory of this project.
+
+package frc4388.robot.subsystems;
+
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.TalonFXControlMode;
+import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
+
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import frc4388.robot.Constants.ShooterConstants;
+import frc4388.utility.ShooterTables;
+
+public class BoomBoom extends SubsystemBase {
+public WPI_TalonFX m_shooterFalconLeft;
+public WPI_TalonFX m_shooterFalconRight;
+public ShooterTables m_shooterTable;
+
+  /** Creates a new BoomBoom. */
+  public BoomBoom(WPI_TalonFX shooterFalconLeft, WPI_TalonFX shooterFalconRight) {
+  m_shooterFalconLeft = shooterFalconLeft;
+  m_shooterFalconRight = shooterFalconRight;
+  
+    int closedLoopTimeMs = 1;
+      //LEFT FALCON
+      m_shooterFalconLeft.configFactoryDefault();
+      m_shooterFalconLeft.setNeutralMode(NeutralMode.Coast);
+      m_shooterFalconLeft.setInverted(true);
+      m_shooterFalconLeft.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configPeakOutputReverse(0, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconLeft.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      
+      //RIGHT FALCON
+      m_shooterFalconRight.configFactoryDefault();
+      m_shooterFalconRight.setNeutralMode(NeutralMode.Coast);
+      m_shooterFalconRight.setInverted(false);
+      m_shooterFalconRight.configOpenloopRamp(1, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconRight.configClosedloopRamp(0.75, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      //m_shooterFalconRight.configPeakOutputForward(0, ShooterConstants.SHOOTER_TIMEOUT_MS);(comment it in if necessary)
+      m_shooterFalconRight.setSelectedSensorPosition(0, ShooterConstants.SHOOTER_PID_LOOP_IDX, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconRight.configClosedLoopPeriod(0, closedLoopTimeMs, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      m_shooterFalconRight.configSupplyCurrentLimit(ShooterConstants.SUPPLY_CURRENT_LIMIT_CONFIG, ShooterConstants.SHOOTER_TIMEOUT_MS);
+      
+      m_shooterTable = new ShooterTables();
+  
+  
+  }
+    
+
+  @Override
+  public void periodic() {
+    // This method will be called once per scheduler run
+    // Abhi was here 
+  }
+public void runDrumShooter(double speed) {
+    m_shooterFalconLeft.set(TalonFXControlMode.PercentOutput, speed);
+    m_shooterFalconRight.follow(m_shooterFalconLeft);
+  }    
+
+
+  public void runDrumShooterVelocityPID(double targetVel) {
+    m_shooterFalconLeft.set(TalonFXControlMode.Velocity, targetVel); //Init
+    m_shooterFalconRight.follow(m_shooterFalconLeft);
+    }
+}