Team4388/2026KPopRobotHunters
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Sparkmax for arm motor

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This commit is contained in:
Shatcar
2026-03-28 09:59:30 -06:00
parent 7eba3d8faa
commit bc933eba94
9 changed files with 131 additions and 171 deletions
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src/main/java/frc4388/robot/RobotMap.java
+4 -4
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@@ -98,9 +98,9 @@ public class RobotMap {
TalonFX indexer = new TalonFX(ShooterConstants.INDEXER_ID.id, Constants.CANIVORE_CANBUS);
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
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);
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 endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
@@ -109,7 +109,7 @@ public class RobotMap {
// shooterIO = new ShooterIO() {};
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
intakeIO = new IntakeReal(armLimitSwitch, arm, roller);
intakeIO = new IntakeReal(arm, roller);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
@@ -118,7 +118,7 @@ public class RobotMap {
FaultTalonFX.addDevice(shooter1, "Shooter1");
FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer");
FaultTalonFX.addDevice(arm, "Arm");
// FaultTalonFX.addDevice(arm, "Arm");
// FaultTalonFX.addDevice(roller, "Roller");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -5,14 +5,14 @@ package frc4388.robot.constants;
*/
public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 184;
public static final String GIT_SHA = "c6b0d29acdb24728ed566b25d6434a45fbd963c7";
public static final String GIT_DATE = "2026-03-25 11:15:46 MDT";
public static final int GIT_REVISION = 185;
public static final String GIT_SHA = "7eba3d8faa208df9222599c53db1e11da82d7a96";
public static final String GIT_DATE = "2026-03-25 11:39:55 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-03-25 11:17:58 MDT";
public static final long BUILD_UNIX_TIME = 1774459078868L;
public static final String BUILD_DATE = "2026-03-28 09:26:32 MDT";
public static final long BUILD_UNIX_TIME = 1774711592752L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+6 -6
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@@ -96,19 +96,19 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
// io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerOutput(state, 0);
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
// io.setRollerOutput(state, 0);
break;
case Extending:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get()));
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get()));
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
break;
case Bouncing:
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+45 -39
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@@ -1,16 +1,10 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.LimitSwitchConfig.Behavior;
import com.revrobotics.spark.config.LimitSwitchConfig.Type;
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.signals.NeutralModeValue;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
@@ -33,7 +27,7 @@ public class IntakeConstants {
public static final CanDevice ARM_ID = new CanDevice("ARM", 20);
public static final CanDevice ROLLER_ID = new CanDevice("INTAKE_ROLLER", 21);
public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
// public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
// Limits
@@ -46,7 +40,7 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
public static final ConfigurableDouble ARM_ssLIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .70);
@@ -56,16 +50,16 @@ public class IntakeConstants {
// public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
public static final Slot0Configs ARM_PID = new Slot0Configs()
.withKP(0.08)
.withKI(0.0)
.withKD(0.05);
// public static final Slot0Configs ARM_PID = new Slot0Configs()
// .withKP(0.08)
// .withKI(0.0)
// .withKD(0.05);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);
// public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.08);
// public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
// public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);
@@ -75,25 +69,37 @@ public class IntakeConstants {
// public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
// Motor configs
public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()
.withStatorCurrentLimit(15) // 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 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 SparkMaxConfig ARM_MOTOR_CONFIG = new SparkMaxConfig();
public static final SparkMaxConfig ROLELR_MOTOR_CONFIG = new SparkMaxConfig();
static {
ARM_MOTOR_CONFIG.limitSwitch
.reverseLimitSwitchType(Type.kNormallyClosed)
.limitSwitchPositionSensor(FeedbackSensor.kPrimaryEncoder)
.forwardLimitSwitchPosition(0)
.forwardLimitSwitchTriggerBehavior(Behavior.kStopMovingMotorAndSetPosition);
}
// public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
// .withCurrentLimits(
// new CurrentLimitsConfigs()
// .withStatorCurrentLimit(15) // 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 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/IntakeIO.java
+1 -1
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@@ -23,7 +23,7 @@ public interface IntakeIO {
Current armMotorCurrent = Amps.of(0);
AngularVelocity armMotorVelocity = RotationsPerSecond.of(0);
AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
// AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
// Angle shooterPitch = Rotations.of(0);
// Angle shooterTargetPitch = Rotations.of(0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+29 -75
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@@ -1,7 +1,10 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Rotation;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.PositionDutyCycle;
@@ -15,44 +18,24 @@ import edu.wpi.first.units.measure.Acceleration;
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;
public class IntakeReal implements IntakeIO {
TalonFX m_armMotor;
SparkMax m_armMotor;
SparkMax m_rollerMotor;
DigitalInput m_armLimitSwitch;
PositionDutyCycle armPosition = new PositionDutyCycle(0);
DutyCycleOut armPercentOutput = new DutyCycleOut(0);
DutyCycleEncoder encoder;
public IntakeReal(
DigitalInput armLimitSwitch,
TalonFX armMotor,
// DigitalInput armLimitSwitch,
SparkMax armMotor,
SparkMax rollerMotor
) {
// m_angleMotor = angleMotor;
// m_pitchMotor = pitchMotor;
m_armMotor = armMotor;
m_rollerMotor = rollerMotor;
m_armLimitSwitch = armLimitSwitch;
// Apply the configs
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG);
// m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
armPosition.Slot = 0;
// rollerVelocity.Slot = 0;
}
private Angle clampAng(Angle x, Angle min, Angle max){
if(x.gt(max)) {
return max;
}else if(x.lt(min)) {
return min;
}else{
return x;
}
// m_armLimitSwitch = armLimitSwitch;
}
@@ -77,40 +60,14 @@ public class IntakeReal implements IntakeIO {
Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
// PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
m_armMotor.setControl(
armPosition
.withPosition(motorAngle)
.withLimitReverseMotion(!m_armLimitSwitch.get())
);
// m_armMotor.setControl(
// armPosition
// .withPosition(motorAngle)
// .withLimitReverseMotion(!m_armLimitSwitch.get())
// );
}
@Override
public void testSetArmAngle(IntakeState state, Angle angle){
state.armTargetAngle = angle;
Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
final TrapezoidProfile m_profile = new TrapezoidProfile(
new TrapezoidProfile.Constraints(80, 160)
);
// Final target of motorAngle rot, 0 rps
// Convert the Angle to a numeric degree value before creating the profile state
TrapezoidProfile.State m_goal = new TrapezoidProfile.State(motorAngle.in(Rotations), 0);
TrapezoidProfile.State m_setpoint = new TrapezoidProfile.State();
// create a position closed-loop request, voltage output, slot 0 configs
final PositionVoltage m_request = new PositionVoltage(0).withSlot(0);
// calculate the next profile setpoint
m_setpoint = m_profile.calculate(0.020, m_setpoint, m_goal);
// send the request to the device
m_request.Position = m_setpoint.position;
m_request.Velocity = m_setpoint.velocity;
m_armMotor.setControl(m_request);
}
@Override
public void stopArm(){
m_armMotor.set(0);
@@ -119,36 +76,33 @@ public class IntakeReal implements IntakeIO {
@Override
public void armOutput(double percentOutput){
m_armMotor.setControl(
armPercentOutput.withOutput(percentOutput)
.withLimitReverseMotion(!m_armLimitSwitch.get())
);
m_armMotor.set(percentOutput);
}
@Override
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.armAngle = Rotations.of(m_armMotor.getEncoder().getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorVelocity = RotationsPerSecond.of(m_armMotor.getEncoder().getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
// state.armMotorAcceleration = RotationsPerSecondPerSecond.of(m_armMotor.getEncoder().ge);
state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedLimit = !m_armLimitSwitch.get();
state.armMotorVelocity = m_armMotor.getVelocity().getValue();
state.armMotorAcceleration = m_armMotor.getAcceleration().getValue();
if(state.retractedLimit) {
// Set the arm motor to be zero if the limit switch is pressed
m_armMotor.setPosition(0., 0);
}
// if(state.retractedLimit) {
// // Set the arm motor to be zero if the limit switch is pressed
// m_armMotor.setPosition(0., 0);
// }
}
@Override
public void updateGains() {
IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
// IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
// IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
// IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
// m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
}
}