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Merge branch 'swerve' of https://github.com/Team4388/2022NoWayHome into swerve

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evan
2022-03-05 11:22:35 -07:00
parent a5058b4ad8 3d6f9d606d
commit ca9b247955
10 changed files with 234 additions and 177 deletions
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src/main/java/frc4388/robot/RobotMap.java
+49 -57
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@@ -161,61 +161,53 @@ public class RobotMap {
// 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
}
}