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Sparkmax for arm motor

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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/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
// );
}