mirror of
https://github.com/Team4388/2022NoWayHome.git
synced 2026-06-09 08:48:07 -06:00
merge change 2
This commit is contained in:
aarav18
@@ -27,7 +27,8 @@ 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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configureShooterMotorControllers();
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}
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/* LED Subsystem */
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@@ -38,18 +39,6 @@ public class RobotMap {
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}
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/* Swerve Subsystem */
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// public final WPI_TalonFX leftFrontSteerMotor = null;
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// public final WPI_TalonFX leftFrontWheelMotor = null;
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// public final WPI_TalonFX rightFrontSteerMotor = null;
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// public final WPI_TalonFX rightFrontWheelMotor = null;
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// public final WPI_TalonFX leftBackSteerMotor = null;
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// public final WPI_TalonFX leftBackWheelMotor = null;
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// public final WPI_TalonFX rightBackSteerMotor = null;
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// public final WPI_TalonFX rightBackWheelMotor = null;
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// public final CANCoder leftFrontEncoder = null;
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// public final CANCoder rightFrontEncoder = null;
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// public final CANCoder leftBackEncoder = null;
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// public final CANCoder rightBackEncoder = null;
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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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@@ -65,84 +54,60 @@ public class RobotMap {
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public final CANCoder rightBackEncoder = new 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,
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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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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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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.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.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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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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// 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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// 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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@@ -153,7 +118,7 @@ public class RobotMap {
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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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void configureShooterMotorControllers() {
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// LEFT FALCON
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shooterFalconLeft.configFactoryDefault();
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@@ -162,12 +127,9 @@ public class RobotMap {
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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,
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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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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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// RIGHT FALCON
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shooterFalconRight.setInverted(false);
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@@ -175,18 +137,14 @@ public class RobotMap {
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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,
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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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// 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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shooterFalconRight.configStatorCurrentLimit(new StatorCurrentLimitConfiguration(true, 6, 9, 4.2)); // TODO: dont pull numbers out of our ass anymore
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shooterFalconLeft.configSupplyCurrentLimit(new SupplyCurrentLimitConfiguration(true, 12, 13, 0.4)); // TODO: dont pull numbers out of our ass anymore
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}
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