Team4388/2023WayOfTheRobot
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started arm subsystem

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This commit is contained in:
Ryan Manley
2023-01-20 18:06:53 -07:00
parent d0b94e7e94
commit 1442b90816
2 changed files with 52 additions and 1 deletions
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src/main/java/frc4388/robot/RobotMap.java
+19 -1
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@@ -31,10 +31,10 @@ public class RobotMap {
public SwerveModule leftBack;
public SwerveModule rightBack;
public RobotMap() {
configureLEDMotorControllers();
configureDriveMotors();
configArmMotors();
}
/* LED Subsystem */
@@ -128,4 +128,22 @@ public class RobotMap {
this.rightBack = new SwerveModule(rightBackWheel, rightBackSteer, rightBackEncoder, SwerveDriveConstants.Configurations.RIGHT_BACK_ENCODER_OFFSET);
}
// arm stuff
public WPI_TalonFX pivot = new WPI_TalonFX(-1); // TODO: Add real id
public WPI_TalonFX tele = new WPI_TalonFX(-1); // TODO: Add real id
public void configArmMotors() {
// config factory default
pivot.configFactoryDefault();
tele.configFactoryDefault();
// config open loop ramp
pivot.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
tele.configOpenloopRamp(SwerveDriveConstants.Configurations.OPEN_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
// config closed loop ramp
pivot.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
tele.configClosedloopRamp(SwerveDriveConstants.Configurations.CLOSED_LOOP_RAMP_RATE, SwerveDriveConstants.TIMEOUT_MS);
}
}