Team_2648/2025_Robot_Code
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Random changes to try to make the robot work

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This commit is contained in:
Team 2648 2025-02-14 17:04:01 -05:00
parent 187e7385c8
commit 2275248f70
4 changed files with 20 additions and 9 deletions
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8
src/main/java/frc/robot/RobotContainer.java
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@ -129,11 +129,13 @@ public class RobotContainer {
driver.povLeft().whileTrue(climberRollers.runRoller(0.5)); driver.povLeft().whileTrue(climberRollers.runRoller(0.5));
driver.povRight().whileTrue(climberRollers.runRoller(-0.5)); driver.povRight().whileTrue(climberRollers.runRoller(-0.5));
operator.povUp().whileTrue(elevator.goToSetpoint(30.0)); operator.povUp().whileTrue(
elevator.goToSetpoint(20)
);
operator.a().whileTrue(elevator.manualControl(() -> 0.5)); //operator.a().whileTrue(elevator.manualControl(() -> 0.5));
operator.b().whileTrue(elevator.manualControl(() ->-0.1)); //operator.b().whileTrue(elevator.manualControl(() ->-0.1));
/* /*
//Operator inputs //Operator inputs

13
src/main/java/frc/robot/constants/ElevatorConstants.java
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@ -21,7 +21,7 @@ public class ElevatorConstants {
public static final int kCurrentLimit = 40; public static final int kCurrentLimit = 40;
public static final double kPositionControllerP = 0.2; public static final double kPositionControllerP = 0.3;
public static final double kPositionControllerI = 0; public static final double kPositionControllerI = 0;
public static final double kPositionControllerD = 0; public static final double kPositionControllerD = 0;
@ -87,4 +87,15 @@ public class ElevatorConstants {
.maxVelocity(kMaxVelocity) .maxVelocity(kMaxVelocity)
.allowedClosedLoopError(kAllowedError); .allowedClosedLoopError(kAllowedError);
} }
public static final SparkMaxConfig motorConfig2 = new SparkMaxConfig();
static {
motorConfig2
.smartCurrentLimit(kCurrentLimit)
.idleMode(kIdleMode)
.inverted(false);
motorConfig.encoder
.positionConversionFactor(kEncoderConversionFactor);
}
} }

1
src/main/java/frc/robot/subsystems/ClimberPivot.java
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@ -6,7 +6,6 @@ import com.revrobotics.spark.SparkBase.PersistMode;
import com.revrobotics.spark.SparkBase.ResetMode; import com.revrobotics.spark.SparkBase.ResetMode;
import com.revrobotics.spark.SparkLowLevel.MotorType; import com.revrobotics.spark.SparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase; import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.ClimberPivotConstants; import frc.robot.constants.ClimberPivotConstants;

7
src/main/java/frc/robot/subsystems/Elevator.java
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@ -1,6 +1,5 @@
package frc.robot.subsystems; package frc.robot.subsystems;
import java.util.ResourceBundle.Control;
import java.util.function.DoubleSupplier; import java.util.function.DoubleSupplier;
import com.revrobotics.RelativeEncoder; import com.revrobotics.RelativeEncoder;
@ -43,16 +42,16 @@ public class Elevator extends SubsystemBase {
MotorType.kBrushless MotorType.kBrushless
); );
elevatorClosedLoop = elevatorMotor1.getClosedLoopController();
elevatorMotor1.configure( elevatorMotor1.configure(
ElevatorConstants.motorConfig, ElevatorConstants.motorConfig,
ResetMode.kResetSafeParameters, ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters PersistMode.kPersistParameters
); );
elevatorClosedLoop = elevatorMotor1.getClosedLoopController();
elevatorMotor2.configure( elevatorMotor2.configure(
ElevatorConstants.motorConfig.follow(ElevatorConstants.kElevatorMotor1ID), ElevatorConstants.motorConfig2.follow(ElevatorConstants.kElevatorMotor1ID),
ResetMode.kResetSafeParameters, ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters PersistMode.kPersistParameters
); );