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Switch Motor type

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This commit is contained in:
mimigamin
2026-04-01 17:58:15 -06:00
parent 958bdc46fd
commit 82be568dc4
4 changed files with 28 additions and 23 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+16 -12
View File
@@ -1,5 +1,9 @@
package frc4388.robot.subsystems.intake;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.LimitSwitchConfig.Behavior;
@@ -85,7 +89,7 @@ public class IntakeConstants {
// Motor configs
public static final SparkMaxConfig ARM_MOTOR_CONFIG = new SparkMaxConfig();
public static final SparkMaxConfig ROLELR_MOTOR_CONFIG = new SparkMaxConfig();
public static final CanDevice ROLLER_MOTOR_ID = new CanDevice("INTAKE_ROLLER", 21);
static {
ARM_MOTOR_CONFIG.limitSwitch
@@ -101,7 +105,7 @@ public class IntakeConstants {
ARM_MOTOR_CONFIG.idleMode(IdleMode.kBrake);
ROLELR_MOTOR_CONFIG.idleMode(IdleMode.kCoast);
// ROLLER_MOTOR_CONFIG.idleMode(IdleMode.kCoast);
}
// public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -115,14 +119,14 @@ public class IntakeConstants {
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// );
// public static final TalonFXConfiguration ROLLER_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 ROLLER_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
);
}
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+5 -4
View File
@@ -21,17 +21,18 @@ import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import frc4388.robot.subsystems.shooter.ShooterConstants;
import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
SparkMax m_armMotor;
SparkMax m_rollerMotor;
TalonFX m_rollerMotor;
JankCoder m_encoder;
public IntakeReal(
SparkMax armMotor,
SparkMax rollerMotor,
TalonFX rollerMotor,
JankCoder jankCoder
) {
// m_angleMotor = angleMotor;
@@ -41,7 +42,7 @@ public class IntakeReal implements IntakeIO {
m_encoder = jankCoder;
m_armMotor.configure(IntakeConstants.ARM_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
m_rollerMotor.configure(IntakeConstants.ROLELR_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
}
@@ -113,7 +114,7 @@ public class IntakeReal implements IntakeIO {
state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
// state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedSoftLimit = retractedLimit();
state.extendedSoftLimit = extendedLimit();