mirror of
https://github.com/Team4388/2026KPopRobotHunters.git
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68 lines
2.6 KiB
Java
68 lines
2.6 KiB
Java
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package frc4388.robot.subsystems.climber;
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import static edu.wpi.first.units.Units.Inches;
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import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
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import com.ctre.phoenix6.configs.MotorOutputConfigs;
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import com.ctre.phoenix6.configs.Slot0Configs;
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import com.ctre.phoenix6.configs.TalonFXConfiguration;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import edu.wpi.first.units.measure.Distance;
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public class ClimberConstants {
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// Motor conversions
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public static final double CLIMBER_MOTOR_GEAR_RATIO = 1.;
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//IDs
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// public static final CanDevice CLIMBER_ID = new CanDevice("SHOOTER 1", 20);
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// Limits
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// 0 is the forward angle on the robot.
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// negative is left, positive is right
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// public static final Angle L1 = Degrees.of(-180);
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// public static final Angle ARM_LIMIT_UPPER = Degrees.of(180);
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public static final Distance CLIMBER_LIMIT_LOWER = Inches.of(0);
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public static final Distance CLIMBER_LIMIT_UPPER = Inches.of(0);
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public static final Slot0Configs CLIMBER_PID = new Slot0Configs()
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.withKP(2.0)
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.withKI(0.0)
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.withKD(10.0);
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// 0 is paralell to the ground, 90 is directly up
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// public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
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// public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
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// Motor configs
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public static final TalonFXConfiguration CLIMBER_MOTOR_CONFIG = new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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.withStatorCurrentLimit(40) // TODO: tune???
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.withStatorCurrentLimitEnable(true)
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).withMotorOutput(
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new MotorOutputConfigs()
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.withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
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.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
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);
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}
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// public static final class IDs {
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// public static final CanDevice FLYWHEEK_CAN_DEVICE = new CanDevice("Flywheel", 22);
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// }
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// public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
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// .withCurrentLimits(
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// new CurrentLimitsConfigs()
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// .withStatorCurrentLimit(40) // TODO: tune???
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// .withStatorCurrentLimitEnable(true) // TODO: Figure out what this means
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// ).withMotorOutput(
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// new MotorOutputConfigs()
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// .withNeutralMode(NeutralModeValue.Brake) // Brake so it stop
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// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
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// );
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