Team_2648/2026-Robot-Code
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Merge branch 'main' into photonvision_as_a_resource

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Bradley Bickford
2026-02-08 12:39:25 -05:00
parent d0945f5e23 415a5b02c4
commit 9fa09a354a
2 changed files with 54 additions and 22 deletions
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41
src/main/java/frc/robot/constants/SpindexerConstants.java
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@@ -4,29 +4,44 @@ import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
public class SpindexerConstants {
// TODO Real values
public static final int kMotorCANID = 0;
public static final int kSpindexerMotorCANID = 0;
public static final int kFeederMotorCANID = 0;
public static final int kStatorCurrentLimit = 80;
public static final int kSupplyCurrentLimit = 30;
public static final int kSpindexerStatorCurrentLimit = 80;
public static final int kSpindexerSupplyCurrentLimit = 30;
public static final int kFeederCurrentLimit = 30;
public static final InvertedValue kInversionState = InvertedValue.Clockwise_Positive;
public static final NeutralModeValue kIdleMode = NeutralModeValue.Brake;
public static final boolean kFeederMotorInverted = false;
public static final InvertedValue kSpindexerInversionState = InvertedValue.Clockwise_Positive;
public static final NeutralModeValue kSpindexerIdleMode = NeutralModeValue.Brake;
public static final IdleMode kFeederIdleMode = IdleMode.kBrake;
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
public static final CurrentLimitsConfigs kCurrentLimitConfig = new CurrentLimitsConfigs();
public static final MotorOutputConfigs kMotorConfig = new MotorOutputConfigs();
public static final SparkMaxConfig kFeederConfig = new SparkMaxConfig();
public static final CurrentLimitsConfigs kSpindexerCurrentLimitConfig = new CurrentLimitsConfigs();
public static final MotorOutputConfigs kSpindexerMotorConfig = new MotorOutputConfigs();
static {
kCurrentLimitConfig.StatorCurrentLimitEnable = true;
kCurrentLimitConfig.SupplyCurrentLimitEnable = true;
kCurrentLimitConfig.StatorCurrentLimit = kStatorCurrentLimit;
kCurrentLimitConfig.SupplyCurrentLimit = kSupplyCurrentLimit;
kSpindexerCurrentLimitConfig.StatorCurrentLimitEnable = true;
kSpindexerCurrentLimitConfig.SupplyCurrentLimitEnable = true;
kSpindexerCurrentLimitConfig.StatorCurrentLimit = kSpindexerStatorCurrentLimit;
kSpindexerCurrentLimitConfig.SupplyCurrentLimit = kSpindexerSupplyCurrentLimit;
kMotorConfig.Inverted = kInversionState;
kMotorConfig.NeutralMode = kIdleMode;
kSpindexerMotorConfig.Inverted = kSpindexerInversionState;
kSpindexerMotorConfig.NeutralMode = kSpindexerIdleMode;
kFeederConfig
.inverted(kFeederMotorInverted)
.smartCurrentLimit(kFeederCurrentLimit)
.idleMode(kFeederIdleMode);
}
}