Team4388/2023WayOfTheRobot
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armty

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Aarav
2023-03-06 19:36:15 -07:00
parent 7d7d9898c9
commit afcdd3ddf4
1 changed files with 7 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/Arm.java
+7 -2
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@@ -2,6 +2,8 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.ControlMode;
import com.ctre.phoenix.motorcontrol.FeedbackDevice; 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.RemoteSensorSource;
import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration; import com.ctre.phoenix.motorcontrol.can.TalonFXConfiguration;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
@@ -24,7 +26,10 @@ public class Arm extends SubsystemBase {
m_pivot = pivot; m_pivot = pivot;
m_pivotEncoder = encoder; m_pivotEncoder = encoder;
tele.configFactoryDefault(); m_tele.configFactoryDefault();
// m_tele.configReverseLimitSwitchSource(null, null);
m_tele.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
m_tele.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
m_pivot.configFactoryDefault(); m_pivot.configFactoryDefault();
TalonFXConfiguration pivotConfig = new TalonFXConfiguration(); TalonFXConfiguration pivotConfig = new TalonFXConfiguration();
@@ -150,7 +155,7 @@ public class Arm extends SubsystemBase {
resetable = true; resetable = true;
} }
double x = Math.cos(degrees); double x = Math.cos(Math.toRadians(degrees));
SwerveDriveConstants.ROTATION_SPEED = SwerveDriveConstants.MIN_ROT_SPEED + x * (SwerveDriveConstants.MAX_ROT_SPEED - SwerveDriveConstants.MIN_ROT_SPEED); SwerveDriveConstants.ROTATION_SPEED = SwerveDriveConstants.MIN_ROT_SPEED + x * (SwerveDriveConstants.MAX_ROT_SPEED - SwerveDriveConstants.MIN_ROT_SPEED);
// if (m_debug) // if (m_debug)
// SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition()); // SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition());