Adding a few subsystems, not sure I like the use of periodic for the shooter and intake pivot subsystems

2026-02-06 21:07:38 -05:00
parent ffc1c0cd8b
commit faff80fb9a
8 changed files with 323 additions and 19 deletions
--- a/src/main/java/frc/robot/constants/IntakePivotConstants.java
+++ b/src/main/java/frc/robot/constants/IntakePivotConstants.java
@@ -0,0 +1,69 @@
+package frc.robot.constants;
+
+import com.revrobotics.spark.FeedbackSensor;
+import com.revrobotics.spark.config.SparkMaxConfig;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+
+public class IntakePivotConstants {
+    // TODO Real values
+    public enum IntakePivotPosition {
+        kUp(0),
+        kDown(0);
+        private double positionRadians;
+
+        private IntakePivotPosition(double positionRadians) {
+            this.positionRadians = positionRadians;
+        }
+
+        public double getPositionRadians() {
+            return positionRadians;
+        }
+    }
+
+    public static final int kLeftMotorCANID = 0;
+    public static final int kRightMotorCANID = 1;
+
+    public static final double kConversionFactor = 0;
+
+    public static final double kP = 0;
+    public static final double kI = 0;
+    public static final double kD = 0;
+    public static final double kS = 0;
+    public static final double kV = 0;
+    public static final double kA = 0;
+
+    public static final boolean kInvertMotors = false;
+
+    public static final int kCurrentLimit = 30;
+
+    public static final IdleMode kIdleMode = IdleMode.kBrake;
+
+    // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
+    
+    public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig();
+    public static final SparkMaxConfig rightMotorConfig = new SparkMaxConfig();
+
+    static {
+        leftMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors);
+        leftMotorConfig.absoluteEncoder
+            .positionConversionFactor(kConversionFactor)
+            .velocityConversionFactor(kConversionFactor / 60);
+        leftMotorConfig.closedLoop
+            .feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
+            .pid(kP, kI, kD)
+            .outputRange(-1, 1)
+            .positionWrappingEnabled(true)
+            .positionWrappingInputRange(0, 2 * Math.PI)
+            .feedForward
+                .sva(kS, kV, kA);
+
+        rightMotorConfig
+            .idleMode(kIdleMode)
+            .smartCurrentLimit(kCurrentLimit)
+            .inverted(kInvertMotors)
+            .follow(kLeftMotorCANID);
+    }
+}