Real robo changes

2026-06-09 00:38:05 -06:00 · 2022-03-05 11:12:33 -07:00
parent 71e082e7bd
commit a5058b4ad8
7 changed files with 449 additions and 268 deletions
@@ -29,9 +29,9 @@ import frc4388.robot.subsystems.SwerveModule;
 public class RobotMap {

  public RobotMap() {
-    configureLEDMotorControllers();
+    // configureLEDMotorControllers();
    configureSwerveMotorControllers();
-    configureShooterMotorControllers();
+    // configureShooterMotorControllers();
  }

  /* LED Subsystem */
@@ -74,99 +74,148 @@ public class RobotMap {
    rightBackSteerMotor.configFactoryDefault();
    rightBackWheelMotor.configFactoryDefault();

-    leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightFrontSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightFrontWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightBackSteerMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightBackWheelMotor.configOpenloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);

-    leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightFrontSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightFrontWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightBackSteerMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightBackWheelMotor.configClosedloopRamp(SwerveDriveConstants.OPEN_LOOP_RAMP_RATE,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);

-    leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
-    rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND, SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightFrontSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightFrontWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    leftBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightBackSteerMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);
+    rightBackWheelMotor.configNeutralDeadband(SwerveDriveConstants.NEUTRAL_DEADBAND,
+        SwerveDriveConstants.SWERVE_TIMEOUT_MS);

    NeutralMode mode = NeutralMode.Coast;
    leftFrontSteerMotor.setNeutralMode(mode);
-    leftFrontWheelMotor.setNeutralMode(mode);//Coast
+    leftFrontWheelMotor.setNeutralMode(mode);// Coast
    rightFrontSteerMotor.setNeutralMode(mode);
-    rightFrontWheelMotor.setNeutralMode(mode);//Coast
+    rightFrontWheelMotor.setNeutralMode(mode);// Coast
    leftBackSteerMotor.setNeutralMode(mode);
-    leftBackWheelMotor.setNeutralMode(mode);//Coast
+    leftBackWheelMotor.setNeutralMode(mode);// Coast
    rightBackSteerMotor.setNeutralMode(mode);
-    rightBackWheelMotor.setNeutralMode(mode);//Coast
+    rightBackWheelMotor.setNeutralMode(mode);// Coast

-    leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder, SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
-    leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder, SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
-    rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder, SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
-    rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder, SwerveDriveConstants.RIGHT_BACK_ENCODER_OFFSET);
+    leftFront = new SwerveModule(leftFrontWheelMotor, leftFrontSteerMotor, leftFrontEncoder,
+        SwerveDriveConstants.LEFT_FRONT_ENCODER_OFFSET);
+    leftBack = new SwerveModule(leftBackWheelMotor, leftBackSteerMotor, leftBackEncoder,
+        SwerveDriveConstants.LEFT_BACK_ENCODER_OFFSET);
+    rightFront = new SwerveModule(rightFrontWheelMotor, rightFrontSteerMotor, rightFrontEncoder,
+        SwerveDriveConstants.RIGHT_FRONT_ENCODER_OFFSET);
+    rightBack = new SwerveModule(rightBackWheelMotor, rightBackSteerMotor, rightBackEncoder,
+        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);
  }

  // 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 CANSparkMax shooterTurret = new CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
-
-  // 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, 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, ShooterConstants.SHOOTER_TIMEOUT_MS);
-    
-    /* 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
-
-  }
+  /*
+   * 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 CANSparkMax shooterTurret = new
+   * CANSparkMax(ShooterConstants.TURRET_MOTOR_CAN_ID, MotorType.kBrushless);
+   * 
+   * // 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, 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, ShooterConstants.SHOOTER_TIMEOUT_MS);
+   * 
+   * /* 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
+   */
+  // }

 }