Team_2648/2026-Robot-Code
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end of pine tree 2

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This commit is contained in:
Tylr-J42
2026-03-08 19:24:00 -04:00
parent 21c0421a88
commit 5e1eadf887
7 changed files with 167 additions and 11 deletions
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9
src/main/java/frc/robot/constants/ModuleConstants.java
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@@ -1,6 +1,7 @@
package frc.robot.constants;
import com.ctre.phoenix6.configs.AudioConfigs;
import com.ctre.phoenix6.configs.ClosedLoopRampsConfigs;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
@@ -51,10 +52,11 @@ public class ModuleConstants {
public static final double kDriveS = 0;
public static final double kDriveV = kDrivingVelocityFeedForward;
public static final double kDriveA = 0;
public static final double kClosedLoopRampRate = .01;
// TODO Hold over from 2025, adjust?
public static final int kDriveMotorStatorCurrentLimit = 100;
public static final int kDriveMotorSupplyCurrentLimit = 65;
public static final int kDriveMotorStatorCurrentLimit = 90;
public static final int kDriveMotorSupplyCurrentLimit = 55;
// TODO Hold over from 2025, adjust?
public static final InvertedValue kDriveInversionState = InvertedValue.Clockwise_Positive;
@@ -88,6 +90,7 @@ public class ModuleConstants {
public static final MotorOutputConfigs kDriveMotorConfig = new MotorOutputConfigs();
public static final AudioConfigs kAudioConfig = new AudioConfigs();
public static final Slot0Configs kDriveSlot0Config = new Slot0Configs();
public static final ClosedLoopRampsConfigs kDriveClosedLoopRampConfig = new ClosedLoopRampsConfigs();
static {
kDriveFeedConfig.SensorToMechanismRatio = kDrivingMotorReduction;
@@ -109,6 +112,8 @@ public class ModuleConstants {
kDriveSlot0Config.kV = kDriveV;
kDriveSlot0Config.kA = kDriveA;
kDriveClosedLoopRampConfig.withVoltageClosedLoopRampPeriod(kClosedLoopRampRate);
turningConfig
.idleMode(kTurnIdleMode)
.smartCurrentLimit(kTurnMotorCurrentLimit)