From 760b6c0802477643b3812ee7936a670e14626c6c Mon Sep 17 00:00:00 2001 From: Michael Mikovsky Date: Mon, 23 Feb 2026 18:32:15 -0800 Subject: [PATCH] Delete TestRobot.java --- .../frc4388/robot/subsystems/TestRobot.java | 244 ------------------ 1 file changed, 244 deletions(-) delete mode 100644 src/main/java/frc4388/robot/subsystems/TestRobot.java diff --git a/src/main/java/frc4388/robot/subsystems/TestRobot.java b/src/main/java/frc4388/robot/subsystems/TestRobot.java deleted file mode 100644 index 4bf3dba..0000000 --- a/src/main/java/frc4388/robot/subsystems/TestRobot.java +++ /dev/null @@ -1,244 +0,0 @@ -package frc4388.robot.subsystems; - -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.TalonFXConfiguration; -import com.ctre.phoenix6.controls.PositionDutyCycle; -import com.ctre.phoenix6.controls.VelocityDutyCycle; -import com.ctre.phoenix6.hardware.TalonFX; -import com.ctre.phoenix6.signals.NeutralModeValue; - -import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; -import edu.wpi.first.wpilibj2.command.SubsystemBase; -import frc4388.utility.configurable.ConfigurableDouble; - -public class TestRobot extends SubsystemBase { - - // TalonFX m_intakeMotor; - // TalonFX m_armMotor; - // TalonFX m_storageMotor; - TalonFX m_outerShooter; - TalonFX m_innerShooter; - - ConfigurableDouble intakeRate = new ConfigurableDouble("Intake Rate", 0); - - - ConfigurableDouble armUpPosition = new ConfigurableDouble("Arm Up Position", 0); - ConfigurableDouble armDownPosition = new ConfigurableDouble("Arm Down Position", 0); - - ConfigurableDouble storageRate = new ConfigurableDouble("Storage Rate", 0); - ConfigurableDouble outerRate = new ConfigurableDouble("Outer Rate", 0); - ConfigurableDouble innerRate = new ConfigurableDouble("Inner Rate", 0); - - VelocityDutyCycle outerVelocity = new VelocityDutyCycle(0); - VelocityDutyCycle innerVelocity = new VelocityDutyCycle(0); - - public static final double MAX_OUTER_VELOCITY = 1200; // Rots per second - - public enum RobotStare { - IntakeDown, - Idle, - Shoot - } - - public RobotStare robotStare = RobotStare.Idle; - - - public TestRobot( - // TalonFX intakeMotor, - // TalonFX armMotor, - // TalonFX storageMotor, - TalonFX outerShooter, - TalonFX innerShooter - ) { - // m_intakeMotor = intakeMotor; - // m_armMotor = armMotor; - // m_storageMotor = storageMotor; - m_outerShooter = outerShooter; - m_innerShooter = innerShooter; - - // m_intakeMotor.getConfigurator().apply(INTAKE_MOTOR_CONFIG); - // m_armMotor.getConfigurator().apply(ARM_MOTOR_CONFIG); - // m_storageMotor.getConfigurator().apply(STORAGE_MOTOR_CONFIG); - m_outerShooter.getConfigurator().apply(OUTER_MOTOR_CONFIG); - m_innerShooter.getConfigurator().apply(INNER_MOTOR_CONFIG); - - m_outerShooter.getConfigurator().apply(SHOOTER_PID); - m_innerShooter.getConfigurator().apply(SHOOTER_PID); - - outerVelocity.Slot = 0; - innerVelocity.Slot = 0; - } - - // public static final TalonFXConfiguration INTAKE_MOTOR_CONFIG = new TalonFXConfiguration() - // .withCurrentLimits( - // new CurrentLimitsConfigs() - // .withStatorCurrentLimit(40) // TODO: tune??? - // .withStatorCurrentLimitEnable(true) // TODO: Figure out what this means - // ).withMotorOutput( - // new MotorOutputConfigs() - // .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny - // .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means - // ); - // public static final TalonFXConfiguration ARM_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 TalonFXConfiguration STORAGE_MOTOR_CONFIG = new TalonFXConfiguration() - // .withCurrentLimits( - // new CurrentLimitsConfigs() - // .withStatorCurrentLimit(40) // TODO: tune??? - // .withStatorCurrentLimitEnable(true) // TODO: Figure out what this means - // ).withMotorOutput( - // new MotorOutputConfigs() - // .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny - // .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means - // ); - public static final TalonFXConfiguration OUTER_MOTOR_CONFIG = new TalonFXConfiguration() - .withCurrentLimits( - new CurrentLimitsConfigs() - .withStatorCurrentLimit(40) // TODO: tune??? - .withStatorCurrentLimitEnable(true) - ).withMotorOutput( - new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny - .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means - ); - public static final TalonFXConfiguration INNER_MOTOR_CONFIG = new TalonFXConfiguration() - .withCurrentLimits( - new CurrentLimitsConfigs() - .withStatorCurrentLimit(40) // TODO: tune??? - .withStatorCurrentLimitEnable(true) - ).withMotorOutput( - new MotorOutputConfigs() - .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny - .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means - - ); - - public static Slot0Configs SHOOTER_PID; - - static { - SHOOTER_PID = new Slot0Configs(); - SHOOTER_PID.kV = 0.12; - // SHOOTER_PID.kP = 0.11; - // SHOOTER_PID.kI = 0.48; - // SHOOTER_PID.kD = 0.01; - SHOOTER_PID.kP = 0.3; - SHOOTER_PID.kI = 0.0; - SHOOTER_PID.kD = 0.0; - } - - - ConfigurableDouble kV = new ConfigurableDouble("kV", 0.12); - ConfigurableDouble kP = new ConfigurableDouble("kP", 0.11); - ConfigurableDouble kI = new ConfigurableDouble("kI", 0.48); - ConfigurableDouble kD = new ConfigurableDouble("kD", 0.01); - - @Override - public void periodic() { - - SHOOTER_PID = new Slot0Configs(); - SHOOTER_PID.kV = kV.get(); - SHOOTER_PID.kP = kP.get(); - SHOOTER_PID.kI = kI.get(); - SHOOTER_PID.kD = kD.get(); - - m_outerShooter.getConfigurator().apply(SHOOTER_PID); - m_innerShooter.getConfigurator().apply(SHOOTER_PID); - - - SmartDashboard.putNumber("Outer Velocity", m_outerShooter.getVelocity().getValue().in(RotationsPerSecond)); - SmartDashboard.putNumber("Inner Velocity", m_innerShooter.getVelocity().getValue().in(RotationsPerSecond)); - - - switch (robotStare) { - case Idle: - - // Move the arm to the up position - PositionDutyCycle armPosition = new PositionDutyCycle(armUpPosition.get()); - // m_armMotor.setControl(armPosition); - - - // // Stop the intake motor - // m_intakeMotor.set(0); - - // // Stop the storage motor - // m_storageMotor.set(0); - - - // Stop the outer shooter motor - m_outerShooter.set(0); - // Stop the inner shooter motor - m_innerShooter.set(0); - - break; - case IntakeDown: - // Move the arm to the down sposition - PositionDutyCycle armPosition1 = new PositionDutyCycle(armDownPosition.get()); - // m_armMotor.setControl(armPosition1); - - // Move balls into the robot because the arm is down - VelocityDutyCycle intakeVelocity = new VelocityDutyCycle(intakeRate.get()); - // m_intakeMotor.setControl(intakeVelocity); - - // Move balls into the main box - VelocityDutyCycle storageVelocity = new VelocityDutyCycle(storageRate.get()); - // m_storageMotor.setControl(storageVelocity); - - - // Stop the outer shooter motor - m_outerShooter.set(0); - // Stop the inner shooter motor - m_innerShooter.set(0); - - break; - case Shoot: - - // Move the arm to the up position - PositionDutyCycle armPosition2 = new PositionDutyCycle(armUpPosition.get()); - // m_armMotor.setControl(armPosition2); - - // // Stop the intake motor - // m_intakeMotor.set(0); - - // // Move the balls into the - VelocityDutyCycle storageVelocity1 = new VelocityDutyCycle(-storageRate.get()); - // m_storageMotor.setControl(storageVelocity1); - - // outerVelocity. - // m_outerShooter.setControl(outerVelocity); - double outerRPM = outerRate.get(); - m_outerShooter.setControl(outerVelocity.withVelocity(outerRPM));//.withFeedForward(outerRPM/MAX_OUTER_VELOCITY)); - - - - // m_innerShooter.setControl(innerVelocity); - // m_innerShooter.set(innerRate.get()); - - double innerRPM = innerRate.get(); - m_innerShooter.setControl(innerVelocity.withVelocity(innerRPM));//.withFeedForward(outerRPM/MAX_OUTER_VELOCITY)); - - - // SmartDashboard.putNumber("Test", outerRate.get()); - - break; - default: - break; - } - - - - } - -}