Team4388/2023WayOfTheRobot
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aarav18
2023-03-13 16:00:09 -06:00
parent 5521349510
commit 801619ef30
2 changed files with 37 additions and 21 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+17 -14
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@@ -3,6 +3,7 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice;
import com.ctre.phoenix.motorcontrol.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.TalonFXFeedbackDevice;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
@@ -16,7 +17,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Arm extends SubsystemBase {
private WPI_TalonFX m_tele;
private WPI_TalonFX m_pivot;
public WPI_TalonFX m_pivot;
private CANCoder m_pivotEncoder;
private boolean m_debug;
@@ -29,15 +30,16 @@ public class Arm extends SubsystemBase {
tele.configFactoryDefault();
m_pivot.configFactoryDefault();
TalonFXConfiguration pivotConfig = new TalonFXConfiguration();
pivotConfig.slot0.kP = ArmConstants.kP;
pivotConfig.slot0.kI = ArmConstants.kI;
pivotConfig.slot0.kD = ArmConstants.kD;
// TalonFXConfiguration pivotConfig = new TalonFXConfiguration();
// pivotConfig.slot0.kP = 0.5;//ArmConstants.kP;
// pivotConfig.slot0.kI = 0.0;//ArmConstants.kI;
// pivotConfig.slot0.kD = 0.0;//ArmConstants.kD;
pivotConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
pivotConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
pivotConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
m_pivot.configAllSettings(pivotConfig);
// pivotConfig.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
// pivotConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
// pivotConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
// m_pivot.configAllSettings(pivotConfig);
resetTeleSoftLimit();
@@ -58,17 +60,18 @@ public class Arm extends SubsystemBase {
pivotConfig_.slot0.kI = SmartDashboard.getNumber("kI Pivot", 0);
pivotConfig_.slot0.kD = SmartDashboard.getNumber("kD Pivot", 0);
pivotConfig_.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0;
pivotConfig_.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
pivotConfig_.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
// pivotConfig_.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID();
// pivotConfig_.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder;
// pivotConfig_.configSelectedFeedbackFilter();// FeedbackDevice.RemoteSensor0;
m_pivot.configAllSettings(pivotConfig_);
m_pivot.configRemoteFeedbackFilter(encoder.getDeviceID(), RemoteSensorSource.CANCoder, 0);
m_pivot.configSelectedFeedbackSensor(FeedbackDevice.RemoteSensor0);
// m_pivot.configRemoteFeedbackFilter(encoder.getDeviceID(), RemoteSensorSource.CANCoder, 0);
// m_pivot.configSelectedFeedbackSensor(FeedbackDevice.RemoteSensor0);
// m_pivot.selectProfileSlot(0, 0);
}));
SmartDashboard.putData("set pos 1", new RunCommand(() -> m_pivot.set(ControlMode.Position, 225), this));
SmartDashboard.putData("set pos 2", new RunCommand(() -> m_pivot.set(ControlMode.Position, 135), this));
SmartDashboard.putData("Kill Self", new InstantCommand(() -> {}, this));
}