Climber subsystem

unconfirmed subsytem - incomplete,no motors mapped
2026-06-09 00:38:03 -06:00 · 2026-01-29 18:27:18 -08:00
parent 5d38173168
commit 6c082c7103
5 changed files with 280 additions and 6 deletions
@@ -0,0 +1,74 @@
+package frc4388.robot.subsystems.climber;
+
+import static edu.wpi.first.units.Units.Degrees;
+import static edu.wpi.first.units.Units.Inches;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
+import com.ctre.phoenix6.configs.Slot0Configs;
+import com.ctre.phoenix6.configs.Slot1Configs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.units.measure.AngularVelocity;
+import edu.wpi.first.units.measure.Distance;
+import frc4388.utility.status.CanDevice;
+
+public class ClimberConstants {
+    // Motor conversions
+
+    public static final double CLIMBER_MOTOR_GEAR_RATIO = 1.;
+
+    //IDs
+
+
+    // 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);
+    public static final Distance CLIMBER_LIMIT_LOWER = Inches.of(0);
+
+    public static final Distance CLIMBER_LIMIT_UPPER = Inches.of(0);
+
+
+    public static final Slot0Configs CLIMBER_PID = new Slot0Configs()
+        .withKP(2.0)
+        .withKI(0.0)
+        .withKD(10.0);
+
+    // 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);
+    
+    // Motor configs
+    public static final TalonFXConfiguration CLIMBER_MOTOR_CONFIG = new TalonFXConfiguration()
+        .withCurrentLimits(
+            new CurrentLimitsConfigs()
+                .withStatorCurrentLimit(40) // TODO: tune???
+                .withStatorCurrentLimitEnable(true)
+            ).withMotorOutput(
+                new MotorOutputConfigs()
+                    .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
+    // );