Team4388/2023WayOfTheRobot
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defualt command and soft limits

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This commit is contained in:
Abhi Sachi
2023-01-21 13:22:37 -07:00
parent 2b71be8c7c
commit 904c3dcc2d
4 changed files with 49 additions and 1 deletions
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src/main/java/frc4388/robot/RobotMap.java
+17
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@@ -7,11 +7,13 @@
package frc4388.robot;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import com.ctre.phoenix.sensors.CANCoder;
import com.ctre.phoenix.sensors.WPI_Pigeon2;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import frc4388.robot.Constants.ArmConstants;
import frc4388.robot.Constants.LEDConstants;
import frc4388.robot.Constants.SwerveDriveConstants;
import frc4388.robot.subsystems.SwerveModule;
@@ -145,5 +147,20 @@ public class RobotMap {
// 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);
// config neutral mode to brake
pivot.setNeutralMode(NeutralMode.Brake);
tele.setNeutralMode(NeutralMode.Brake);
// soft limits
pivot.configForwardSoftLimitThreshold(ArmConstants.PIVOT_FORWARD_SOFT_LIMIT);
pivot.configReverseSoftLimitThreshold(ArmConstants.PIVOT_REVERSE_SOFT_LIMIT);
pivot.configForwardSoftLimitEnable(false);
pivot.configReverseSoftLimitEnable(false);
tele.configForwardSoftLimitThreshold(ArmConstants.TELE_FORWARD_SOFT_LIMIT);
tele.configReverseSoftLimitThreshold(ArmConstants.TELE_REVERSE_SOFT_LIMIT);
tele.configForwardSoftLimitEnable(false);
tele.configReverseSoftLimitEnable(false);
}
}