mirror of
https://github.com/Team4388/2026KPopRobotHunters.git
synced 2026-06-09 08:48:05 -06:00
Michael Mikovsky
88 lines
3.7 KiB
Java
88 lines
3.7 KiB
Java
package frc4388.robot.subsystems.intake;
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import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
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import com.ctre.phoenix6.configs.MotorOutputConfigs;
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import com.ctre.phoenix6.configs.Slot0Configs;
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import com.ctre.phoenix6.configs.TalonFXConfiguration;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import frc4388.utility.configurable.ConfigurableDouble;
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import frc4388.utility.status.CanDevice;
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public class IntakeConstants {
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// Motor conversions
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public static final double ARM_MOTOR_GEAR_RATIO = 125;
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public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
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//IDs
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public static final CanDevice ARM_ID = new CanDevice("ARM", 20);
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public static final CanDevice ROLLER_ID = new CanDevice("INTAKE_ROLLER", 21);
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public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
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// Limits
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// 0 is the forward angle on the robot.
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// negative is left, positive is right
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//when testing the negative output of 10% made the robot put the intake up
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// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
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// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
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public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
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public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.3);
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public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
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public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
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public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .60);
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// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
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// public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
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// public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
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public static final Slot0Configs ARM_PID = new Slot0Configs()
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.withKP(0.1)
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.withKI(0.0)
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.withKD(0.0);
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public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.05);
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public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
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public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
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// 0 is paralell to the ground, 90 is directly up
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// public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
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// public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
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// Motor configs
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public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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.withStatorCurrentLimit(15) // TODO: tune???
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.withStatorCurrentLimitEnable(true)
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).withMotorOutput(
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new MotorOutputConfigs()
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.withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
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.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
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);
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public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
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.withCurrentLimits(
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new CurrentLimitsConfigs()
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.withStatorCurrentLimit(40) // TODO: tune???
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.withStatorCurrentLimitEnable(true)
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).withMotorOutput(
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new MotorOutputConfigs()
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.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
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.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
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);
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}
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