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Add Climber stuff

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This commit is contained in:
Michael Mikovsky
2026-02-22 14:02:31 -07:00
parent 77ca57d678
commit 119451e29e
6 changed files with 110 additions and 160 deletions
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src/main/java/frc4388/robot/subsystems/climber/ClimberConstants.java
+16 -34
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@@ -8,36 +8,32 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Distance;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
public class ClimberConstants {
// Motor conversions
public static final double CLIMBER_MOTOR_GEAR_RATIO = 1.;
public static final double CLIMBER_MOTOR_GEAR_RATIO = 1.; // dimentionless
public static final double CLIMBER_SPOOL_DIAMETER = 1.; // in
public static final double CLIMBER_REVS_PER_INCH = CLIMBER_MOTOR_GEAR_RATIO / (Math.PI * CLIMBER_SPOOL_DIAMETER); // in
//IDs
public static final CanDevice CLIMBER_MOTOR = new CanDevice("Climber Motor", 30);
public static final int CLIMBER_LIMIT_SWITCH_CHANNEL = 8;
// public static final CanDevice CLIMBER_ID = new CanDevice("SHOOTER 1", 20);
// Limits
// 0 is the forward angle on the robot.
// negative is left, positive is right
// public static final Angle L1 = Degrees.of(-180);
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(180);
// Constants
public static final Distance CLIMBER_LIMIT_LOWER = Inches.of(0);
public static final Distance CLIMBER_LIMIT_UPPER = Inches.of(0);
public static final ConfigurableDouble CLIMBER_LIMIT_UPPER = new ConfigurableDouble("Climber Height in", 6.);
public static final ConfigurableDouble CLIMBER_RETRACT_SPEED = new ConfigurableDouble("Climber retract %", 0.3);
public static final Slot0Configs CLIMBER_PID = new Slot0Configs()
.withKP(2.0)
.withKP(0.3)
.withKI(0.0)
.withKD(10.0);
.withKD(0.0);
// 0 is paralell to the ground, 90 is directly up
// public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
// public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
public static final ConfigurableDouble CLIMBER_kP = new ConfigurableDouble("Climber kP", 0.3);
public static final ConfigurableDouble CLIMBER_kI = new ConfigurableDouble("Climber kI", 0.);
public static final ConfigurableDouble CLIMBER_kD = new ConfigurableDouble("Climber kD", 0.);
// Motor configs
public static final TalonFXConfiguration CLIMBER_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -50,18 +46,4 @@ public class ClimberConstants {
.withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
);
}
// public static final class IDs {
// public static final CanDevice FLYWHEEK_CAN_DEVICE = new CanDevice("Flywheel", 22);
// }
// public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
// .withCurrentLimits(
// new CurrentLimitsConfigs()
// .withStatorCurrentLimit(40) // TODO: tune???
// .withStatorCurrentLimitEnable(true) // TODO: Figure out what this means
// ).withMotorOutput(
// new MotorOutputConfigs()
// .withNeutralMode(NeutralModeValue.Brake) // Brake so it stop
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// );
}