Team4388/RiseOfRidgebotics2020
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Changed some motor configurations

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This commit is contained in:
KyraRivera
2020-02-11 17:35:36 -07:00
parent c94de7fdc6
commit ec82e26141
3 changed files with 12 additions and 9 deletions
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src/main/java/frc4388/robot/subsystems/Climber.java
+9 -6
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@@ -10,6 +10,7 @@ package frc4388.robot.subsystems;
import com.revrobotics.CANDigitalInput;
import com.revrobotics.CANSparkMax;
import com.revrobotics.CANDigitalInput.LimitSwitchPolarity;
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -17,18 +18,20 @@ import frc4388.robot.Constants.ClimberConstants;
public class Climber extends SubsystemBase {
CANSparkMax m_climberMotor = new CANSparkMax(ClimberConstants.CLIMBER_SPARK_ID, MotorType.kBrushless);
CANDigitalInput m_forwardLimit, m_reverseLimit;
CANDigitalInput m_climberForwardLimit, m_climberReverseLimit;
/**
* Creates a new Climber.
*/
public Climber() {
m_climberMotor.restoreFactoryDefaults();
m_forwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_reverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_forwardLimit.enableLimitSwitch(false);
m_reverseLimit.enableLimitSwitch(false);
m_climberMotor.setIdleMode(IdleMode.kBrake);
m_climberMotor.setInverted(false);
m_climberForwardLimit = m_climberMotor.getForwardLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_climberReverseLimit = m_climberMotor.getReverseLimitSwitch(LimitSwitchPolarity.kNormallyClosed);
m_climberForwardLimit.enableLimitSwitch(false);
m_climberReverseLimit.enableLimitSwitch(false);
}
@Override
src/main/java/frc4388/robot/subsystems/Leveler.java
+2 -1
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@@ -26,7 +26,8 @@ public class Leveler extends SubsystemBase {
*/
public Leveler() {
m_levelerMotor.restoreFactoryDefaults();
m_levelerMotor.setIdleMode(IdleMode.kCoast);
m_levelerMotor.setIdleMode(IdleMode.kBrake);
m_levelerMotor.setInverted(false);
}
src/main/java/frc4388/robot/subsystems/Shooter.java
+1 -2
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@@ -31,8 +31,7 @@ public class Shooter extends SubsystemBase {
m_shooterFalcon.configFactoryDefault();
m_shooterFalcon.setNeutralMode(NeutralMode.Coast);
m_shooterFalcon.setInverted(true);
m_shooterFalcon.setInverted(false);
setShooterGains();