Added back open loop ramps and potential climber fix

Modified cancoder offset
4201VitruvianBots · Mar 15, 2024 · a4ef622 · a4ef622
1 parent cd199b6
commit a4ef622
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Showing 3 changed files with 10 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/constants/ARM.java b/src/main/java/frc/robot/constants/ARM.java
@@ -4,7 +4,7 @@
 import edu.wpi.first.math.util.Units;
 
 public final class ARM {
-  public static final double canCoderOffset = -0.035888671875;
+  public static final double canCoderOffset = 0.196533203125;
   /* Static Feedforward Gain
   This is added to the closed loop output. The sign is determined by target velocity.
   The unit for this constant is dependent on the control mode,

diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java
@@ -98,6 +98,11 @@ public Arm() {
     config.ClosedLoopGeneral.ContinuousWrap = false;
     config.MotorOutput.PeakForwardDutyCycle = ARM.maxOutput;
     config.MotorOutput.PeakReverseDutyCycle = -ARM.maxOutput;
+
+    // Ramp rates for climbing
+    config.OpenLoopRamps.DutyCycleOpenLoopRampPeriod = 2.0;
+    config.OpenLoopRamps.TorqueOpenLoopRampPeriod = 2.0;
+    config.OpenLoopRamps.VoltageOpenLoopRampPeriod = 2.0;
 
     config.MotionMagic.MotionMagicAcceleration = ARM.kAccel;
     config.MotionMagic.MotionMagicCruiseVelocity = ARM.kCruiseVel;

diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java
@@ -102,7 +102,8 @@ public Climber() {
     CtreUtils.configureTalonFx(elevatorClimbMotors[1], config);
 
     elevatorClimbMotors[0].setInverted(false);
-    elevatorClimbMotors[1].setControl(new Follower(elevatorClimbMotors[0].getDeviceID(), true));
+    elevatorClimbMotors[1].setInverted(true);
+    // elevatorClimbMotors[1].setControl(new Follower(elevatorClimbMotors[0].getDeviceID(), true));
 
     SmartDashboard.putData(this);
   }
@@ -138,7 +139,7 @@ private void setPercentOutput(double output, boolean enforceLimits) {
     }
 
     elevatorClimbMotors[0].set(output);
-    // elevatorClimbMotors[1].set(output);
+    elevatorClimbMotors[1].set(output);
   }
 
   public double getAvgCurrentDraw() {
@@ -269,6 +270,7 @@ public void periodic() {
     switch (m_controlMode) {
       case CLOSED_LOOP:
         elevatorClimbMotors[0].setControl(m_request.withPosition(m_desiredPositionMeters));
+        elevatorClimbMotors[1].setControl(m_request.withPosition(m_desiredPositionMeters));
         break;
       case OPEN_LOOP:
       default: