Team_2648/2026-Robot-Code
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good flywheel and hood control

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This commit is contained in:
Tylr-J42
2026-03-01 19:15:36 -05:00
parent db443cfe63
commit fb937d86dc
5 changed files with 28 additions and 15 deletions
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6
src/main/java/frc/robot/constants/ModuleConstants.java
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@@ -7,6 +7,7 @@ import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.revrobotics.spark.ClosedLoopSlot;
import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
@@ -63,10 +64,12 @@ public class ModuleConstants {
public static final double kTurningMotorReduction = 150.0/7.0;
public static final double kTurningFactor = 2 * Math.PI / kTurningMotorReduction;
// TODO Adjust? Let over from 2025
public static final double kTurnP = 1;
public static final double kTurnP = 12;
public static final double kTurnI = 0;
public static final double kTurnD = 0;
public static final double kTurnTolerance = Math.toRadians(0.25);
public static final boolean kIsEncoderInverted = false;
// TODO How sensitive is too sensitive?
@@ -118,6 +121,7 @@ public class ModuleConstants {
.feedbackSensor(FeedbackSensor.kPrimaryEncoder)
.pid(kTurnP, kTurnI, kTurnD)
.outputRange(-1, 1)
.allowedClosedLoopError(kTurnTolerance, ClosedLoopSlot.kSlot0)
.positionWrappingEnabled(true)
.positionWrappingInputRange(0, 2 * Math.PI);