Team_2648/2026-Robot-Code
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Adding a few subsystems, not sure I like the use of periodic for the shooter and intake pivot subsystems

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Bradley Bickford
2026-02-06 21:07:38 -05:00
parent ffc1c0cd8b
commit faff80fb9a
8 changed files with 323 additions and 19 deletions
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32
src/main/java/frc/robot/constants/SpindexerConstants.java Normal file
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package frc.robot.constants;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
public class SpindexerConstants {
// TODO Real values
public static final int kMotorCANID = 0;
public static final int kStatorCurrentLimit = 80;
public static final int kSupplyCurrentLimit = 30;
public static final InvertedValue kInversionState = InvertedValue.Clockwise_Positive;
public static final NeutralModeValue kIdleMode = NeutralModeValue.Brake;
// 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();
static {
kCurrentLimitConfig.StatorCurrentLimitEnable = true;
kCurrentLimitConfig.SupplyCurrentLimitEnable = true;
kCurrentLimitConfig.StatorCurrentLimit = kStatorCurrentLimit;
kCurrentLimitConfig.SupplyCurrentLimit = kSupplyCurrentLimit;
kMotorConfig.Inverted = kInversionState;
kMotorConfig.NeutralMode = kIdleMode;
}
}