From e4e90ff91f178b67cad071ff0cf87dbd3268580a Mon Sep 17 00:00:00 2001 From: Aarav Shah Date: Tue, 14 Mar 2023 15:25:53 -0600 Subject: [PATCH] Update Arm.java --- .../java/frc4388/robot/subsystems/Arm.java | 46 +------------------ 1 file changed, 2 insertions(+), 44 deletions(-) diff --git a/src/main/java/frc4388/robot/subsystems/Arm.java b/src/main/java/frc4388/robot/subsystems/Arm.java index e03897e..b03a25a 100644 --- a/src/main/java/frc4388/robot/subsystems/Arm.java +++ b/src/main/java/frc4388/robot/subsystems/Arm.java @@ -32,51 +32,11 @@ public class Arm extends SubsystemBase { m_pivot.configFactoryDefault(); // * Example of deferred code - // new DeferredBlock(() -> resetTeleSoftLimit()); - - // 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.primaryPID.selectedFeedbackSensor = FeedbackDevice.RemoteSensor0; - // pivotConfig.remoteFilter0.remoteSensorDeviceID = encoder.getDeviceID(); - // pivotConfig.remoteFilter0.remoteSensorSource = RemoteSensorSource.CANCoder; - - // m_pivot.configAllSettings(pivotConfig); - - // resetTeleSoftLimit(); + new DeferredBlock(() -> resetTeleSoftLimit()); CANCoderConfiguration config = new CANCoderConfiguration(); config.magnetOffsetDegrees = ArmConstants.OFFSET; m_pivotEncoder.configAllSettings(config); - // m_pivot.configFactoryDefault(); - // m_pivot.clearStickyFaults(); - // m_pi - - SmartDashboard.putNumber("kP Pivot", 0); - SmartDashboard.putNumber("kI Pivot", 0); - SmartDashboard.putNumber("kD Pivot", 0); - - SmartDashboard.putData("Set PID", new InstantCommand(() -> { - TalonFXConfiguration pivotConfig_ = new TalonFXConfiguration(); - pivotConfig_.slot0.kP = SmartDashboard.getNumber("kP Pivot", 0); - 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.selectProfileSlot(0, 0); - })); - SmartDashboard.putData("Kill Self", new InstantCommand(() -> {}, this)); } public Arm(WPI_TalonFX pivot, WPI_TalonFX tele, CANCoder encoder) { @@ -192,9 +152,7 @@ public class Arm extends SubsystemBase { SmartDashboard.putBoolean("reverse", m_tele.isFwdLimitSwitchClosed() == 1); double x = Math.cos(degrees); - // SwerveDriveConstants.ROTATION_SPEED = SwerveDriveConstants.MIN_ROT_SPEED + x * (SwerveDriveConstants.MAX_ROT_SPEED - SwerveDriveConstants.MIN_ROT_SPEED); - // if (m_debug) - // SmartDashboard.putNumber("Arm Motor", m_tele.getSelectedSensorPosition()); + SmartDashboard.putNumber("Pivot CANCoder", m_pivotEncoder.getAbsolutePosition()); SmartDashboard.putNumber("Pivot IntegratedSensor", m_pivot.getSelectedSensorPosition()); SmartDashboard.putNumber("Telescope Encoder", m_tele.getSelectedSensorPosition());