Team4388/2023WayOfTheRobot
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Merge branch 'master' into arm-command

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This commit is contained in:
Aarav Shah
2023-03-14 15:33:43 -06:00
committed by GitHub
parent ef99d71c1c d17084b113
commit 02b5f62d3c
1 changed files with 6 additions and 13 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+6 -13
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@@ -2,6 +2,8 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
@@ -28,7 +30,9 @@ public class Arm extends SubsystemBase {
m_pivot = pivot;
m_pivotEncoder = encoder;
tele.configFactoryDefault();
m_tele.configFactoryDefault();
m_tele.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
m_tele.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
m_pivot.configFactoryDefault();
// * Example of deferred code
@@ -149,13 +153,7 @@ public class Arm extends SubsystemBase {
tele_reset = true;
}
SmartDashboard.putBoolean("reverse", m_tele.isFwdLimitSwitchClosed() == 1);
double x = Math.cos(degrees);
SmartDashboard.putNumber("Pivot CANCoder", m_pivotEncoder.getAbsolutePosition());
SmartDashboard.putNumber("Pivot IntegratedSensor", m_pivot.getSelectedSensorPosition());
SmartDashboard.putNumber("Telescope Encoder", m_tele.getSelectedSensorPosition());
// double x = Math.cos(Math.toRadians(degrees));
}
boolean soft_limits = true;
@@ -164,13 +162,8 @@ public class Arm extends SubsystemBase {
var pivot_soft = m_pivot.getSelectedSensorPosition();
var tele_soft = m_tele.getSelectedSensorPosition();
SmartDashboard.putNumber("start pivot", pivot_soft);
SmartDashboard.putNumber("start tele", tele_soft);
m_pivot.configForwardSoftLimitEnable(!soft_limits);
m_pivot.configReverseSoftLimitEnable(!soft_limits);
SmartDashboard.putNumber("fwd err", m_pivot.configForwardSoftLimitThreshold(1200 + pivot_soft).value);
SmartDashboard.putNumber("rvs err", m_pivot.configReverseSoftLimitThreshold(pivot_soft).value);
soft_limits = !soft_limits;
}