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Shoooterrr

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Shikhar
2026-01-27 18:13:51 -07:00
parent 7b71cfb9d2
commit 42e911fbdc
4 changed files with 110 additions and 70 deletions
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src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java
+7 -4
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@@ -1,6 +1,6 @@
package frc4388.robot.subsystems.shooter;
import static edu.wpi.first.units.Units.*;
import static edu.wpi.first.units.Units.Degrees;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -16,6 +16,9 @@ public class ShooterConstants {
public static final double PITCH_MOTOR_GEAR_RATIO = 1.;
public static final double FLYWHEEL_GEAR_RATIO = 1.;
public static final double FEEDER_INCHES_PER_ROT = 1.;
public static final double SHOOTERMOTOR1_GEAR_RATIO = 1.;
public static final double SHOOTERMOTOR2_GEAR_RATIO = 1.;
public static final double INDEXER_GEAR_RATIO = 1.;
// Limits
@@ -44,7 +47,7 @@ public class ShooterConstants {
public static final CanDevice FLYWHEEK_CAN_DEVICE = new CanDevice("Flywheel", 22);
}
public static final TalonFXConfiguration PITCH_MOTOR_CONFIG = new TalonFXConfiguration()
public static final TalonFXConfiguration SHOOTER1_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(40) // TODO: tune???
@@ -54,7 +57,7 @@ public class ShooterConstants {
.withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
);
public static final TalonFXConfiguration FLYWHEEL_MOTOR_CONFIG = new TalonFXConfiguration()
public static final TalonFXConfiguration SHOOTER2_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(40) // TODO: tune???
@@ -64,7 +67,7 @@ public class ShooterConstants {
.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
);
public static final TalonFXConfiguration FEEDER_MOTOR_CONFIG = new TalonFXConfiguration()
public static final TalonFXConfiguration INDEXER_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(40) // TODO: tune???