51 lines
2.1 KiB
Java
51 lines
2.1 KiB
Java
package frc.robot.constants;
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import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
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import com.ctre.phoenix6.configs.MotorOutputConfigs;
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import com.ctre.phoenix6.signals.InvertedValue;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import com.revrobotics.spark.config.SparkMaxConfig;
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import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
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public class SpindexerConstants {
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// TODO Real values
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public static final int kSpindexerMotorCANID = 0;
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public static final int kFeederMotorCANID = 4;
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public static final int kSpindexerStatorCurrentLimit = 110;
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public static final int kSpindexerSupplyCurrentLimit = 60;
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public static final int kFeederCurrentLimit = 40;
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public static final double kSpindexerSpeed = 1;
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public static final double kFeederSpeed = 1;
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public static final boolean kFeederMotorInverted = true;
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public static final InvertedValue kSpindexerInversionState = InvertedValue.Clockwise_Positive;
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public static final NeutralModeValue kSpindexerIdleMode = NeutralModeValue.Coast;
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public static final IdleMode kFeederIdleMode = IdleMode.kBrake;
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// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
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public static final SparkMaxConfig kFeederConfig = new SparkMaxConfig();
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public static final CurrentLimitsConfigs kSpindexerCurrentLimitConfig = new CurrentLimitsConfigs();
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public static final MotorOutputConfigs kSpindexerMotorConfig = new MotorOutputConfigs();
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static {
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kSpindexerCurrentLimitConfig.StatorCurrentLimitEnable = true;
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kSpindexerCurrentLimitConfig.SupplyCurrentLimitEnable = true;
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kSpindexerCurrentLimitConfig.StatorCurrentLimit = kSpindexerStatorCurrentLimit;
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kSpindexerCurrentLimitConfig.SupplyCurrentLimit = kSpindexerSupplyCurrentLimit;
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kSpindexerMotorConfig.Inverted = kSpindexerInversionState;
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kSpindexerMotorConfig.NeutralMode = kSpindexerIdleMode;
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kFeederConfig
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.inverted(kFeederMotorInverted)
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.smartCurrentLimit(kFeederCurrentLimit)
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.idleMode(kFeederIdleMode);
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}
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}
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