Team4388/2026KPopRobotHunters
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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/RobotMap.java
+2 -2
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@@ -101,7 +101,7 @@ public class RobotMap {
//Configure Intake 20,21 //Configure Intake 20,21
SparkMax arm = new SparkMax(IntakeConstants.ARM_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless); SparkMax arm = new SparkMax(IntakeConstants.ARM_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless);
SparkMax roller = new SparkMax(IntakeConstants.ROLLER_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless); TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
// DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL); // DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH); // DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH); // DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
@@ -120,7 +120,7 @@ public class RobotMap {
FaultTalonFX.addDevice(shooter2, "Shooter2"); FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer"); FaultTalonFX.addDevice(indexer, "Indexer");
FaultSparkMax.addDevice(arm, "Arm"); FaultSparkMax.addDevice(arm, "Arm");
FaultSparkMax.addDevice(roller, "Roller"); FaultTalonFX.addDevice(roller, "Roller");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive"); FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer"); FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = ""; public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters"; public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified"; public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 197; public static final int GIT_REVISION = 198;
public static final String GIT_SHA = "2407a900c901efca8c60d0a6143e39db7cf90201"; public static final String GIT_SHA = "958bdc46fd90b8388750f8bf1a95b62ff91b2092";
public static final String GIT_DATE = "2026-03-31 19:47:27 MDT"; public static final String GIT_DATE = "2026-03-31 20:51:47 MDT";
public static final String GIT_BRANCH = "New-Intake"; public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-03-31 20:33:43 MDT"; public static final String BUILD_DATE = "2026-04-01 17:29:06 MDT";
public static final long BUILD_UNIX_TIME = 1775010823079L; public static final long BUILD_UNIX_TIME = 1775086146983L;
public static final int DIRTY = 1; public static final int DIRTY = 1;
private BuildConstants(){} private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+16 -12
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@@ -1,5 +1,9 @@
package frc4388.robot.subsystems.intake; 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.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig; import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.LimitSwitchConfig.Behavior; import com.revrobotics.spark.config.LimitSwitchConfig.Behavior;
@@ -85,7 +89,7 @@ public class IntakeConstants {
// Motor configs // Motor configs
public static final SparkMaxConfig ARM_MOTOR_CONFIG = new SparkMaxConfig(); 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 { static {
ARM_MOTOR_CONFIG.limitSwitch ARM_MOTOR_CONFIG.limitSwitch
@@ -101,7 +105,7 @@ public class IntakeConstants {
ARM_MOTOR_CONFIG.idleMode(IdleMode.kBrake); 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() // 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 // .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// ); // );
// public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration() public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
// .withCurrentLimits( .withCurrentLimits(
// new CurrentLimitsConfigs() new CurrentLimitsConfigs()
// .withStatorCurrentLimit(40) // TODO: tune??? .withStatorCurrentLimit(40) // TODO: tune???
// .withStatorCurrentLimitEnable(true) .withStatorCurrentLimitEnable(true)
// ).withMotorOutput( ).withMotorOutput(
// new MotorOutputConfigs() new MotorOutputConfigs()
// .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// ); );
} }
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+5 -4
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@@ -21,17 +21,18 @@ import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Velocity; import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.wpilibj.DigitalInput; import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DutyCycleEncoder; import edu.wpi.first.wpilibj.DutyCycleEncoder;
import frc4388.robot.subsystems.shooter.ShooterConstants;
import frc4388.utility.compute.JankCoder; import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO { public class IntakeReal implements IntakeIO {
SparkMax m_armMotor; SparkMax m_armMotor;
SparkMax m_rollerMotor; TalonFX m_rollerMotor;
JankCoder m_encoder; JankCoder m_encoder;
public IntakeReal( public IntakeReal(
SparkMax armMotor, SparkMax armMotor,
SparkMax rollerMotor, TalonFX rollerMotor,
JankCoder jankCoder JankCoder jankCoder
) { ) {
// m_angleMotor = angleMotor; // m_angleMotor = angleMotor;
@@ -41,7 +42,7 @@ public class IntakeReal implements IntakeIO {
m_encoder = jankCoder; m_encoder = jankCoder;
m_armMotor.configure(IntakeConstants.ARM_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters); 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.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
state.rollerOutput = m_rollerMotor.get(); state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent()); // state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedSoftLimit = retractedLimit(); state.retractedSoftLimit = retractedLimit();
state.extendedSoftLimit = extendedLimit(); state.extendedSoftLimit = extendedLimit();