Team4388/RiseOfRidgebotics2020
1
0
Fork 0
mirror of https://github.com/Team4388/RiseOfRidgebotics2020.git synced 2026-06-09 00:38:00 -06:00
Code Issues Packages Projects Releases Wiki Activity

Set up leveler motor so that it can be run.

Browse Source
This commit is contained in:
KyraRivera
2020-02-08 14:49:16 -07:00
parent 86a04aca1e
commit 5ab2fce79b
3 changed files with 9 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/Constants.java
+2 -2
View File
@@ -70,11 +70,11 @@ public final class Constants {
}
public static final class LevelerConstants {
public static final int LEVELER_TALON_ID = 9;
public static final int LEVELER_CAN_ID = 9;
}
public static final class StorageConstants {
public static final int STORAGE_CAN_ID = 9;
public static final int STORAGE_CAN_ID = -1;
public static final int BEAM_SENSOR_DIO_0 = 0;
public static final int BEAM_SENSOR_DIO_1 = 1;
public static final int BEAM_SENSOR_DIO_2 = 2;
src/main/java/frc4388/robot/RobotContainer.java
+1 -1
View File
@@ -60,7 +60,7 @@ public class RobotContainer {
m_robotIntake.setDefaultCommand(new RunIntakeWithTriggers(m_robotIntake, getOperatorController()));
// continually sends updates to the Blinkin LED controller to keep the lights on
m_robotLED.setDefaultCommand(new RunCommand(() -> m_robotLED.updateLED(), m_robotLED));
// drives the robot with an axis input from the driver controller
// drives the leveler with an axis input from the driver controller
m_robotLeveler.setDefaultCommand(new RunLevelerWithJoystick(m_robotLeveler, getDriverController()));
// runs storage motor at 50 percent
m_robotStorage.setDefaultCommand(new RunCommand(() -> m_robotStorage.runStorage(0.0), m_robotStorage));
src/main/java/frc4388/robot/subsystems/Leveler.java
+6 -5
View File
@@ -10,22 +10,23 @@ package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj.Talon;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants.LevelerConstants;
public class Leveler extends SubsystemBase {
WPI_TalonSRX m_levelerMotor = new WPI_TalonSRX(LevelerConstants.LEVELER_TALON_ID);
CANSparkMax m_levelerMotor = new CANSparkMax(LevelerConstants.LEVELER_CAN_ID, MotorType.kBrushless);
/**
* Creates a new Leveler.
*/
public Leveler() {
m_levelerMotor.configFactoryDefault();
m_levelerMotor.setNeutralMode(NeutralMode.Brake);
m_levelerMotor.restoreFactoryDefaults();
m_levelerMotor.setIdleMode(IdleMode.kCoast);
m_levelerMotor.setInverted(false);
}