Arm post bringup

Mechanical-Advantage · Feb 4, 2024 · 02ddc74 · 02ddc74
1 parent 05e06b4
commit 02ddc74
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Showing 3 changed files with 8 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -27,7 +27,7 @@
  */
 public final class Constants {
   public static final int loopPeriodMs = 20;
-  private static RobotType robotType = RobotType.SIMBOT;
+  private static RobotType robotType = RobotType.RAINBOWT;
   public static final boolean tuningMode = true;
 
   private static boolean invalidRobotAlertSent = false;

diff --git a/src/main/java/frc/robot/subsystems/superstructure/Arm/ArmIOKrakenFOC.java b/src/main/java/frc/robot/subsystems/superstructure/Arm/ArmIOKrakenFOC.java
@@ -30,16 +30,16 @@ public class ArmIOKrakenFOC implements ArmIO {
   Slot0Configs controllerConfig;
 
   public ArmIOKrakenFOC() {
-    leaderMotor = new TalonFX(leaderID, "*");
-    followerMotor = new TalonFX(followerID, "*");
+    leaderMotor = new TalonFX(leaderID, "canivore");
+    followerMotor = new TalonFX(followerID, "canivore");
     followerMotor.setControl(new Follower(leaderID, true));
 
     // Leader motor configs
     TalonFXConfiguration leaderConfig = new TalonFXConfiguration();
     leaderConfig.CurrentLimits.StatorCurrentLimit = 60.0;
     leaderConfig.CurrentLimits.SupplyCurrentLimit = 40.0;
-    leaderConfig.Voltage.PeakForwardVoltage = 12.0;
-    leaderConfig.Voltage.PeakReverseVoltage = 12.0;
+    //    leaderConfig.Voltage.PeakForwardVoltage = 4.0;
+    //    leaderConfig.Voltage.PeakReverseVoltage = -4.0;
     leaderConfig.MotorOutput.Inverted =
         leaderInverted ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive;
     leaderConfig.Feedback.SensorToMechanismRatio = reduction;

diff --git a/src/main/java/frc/robot/subsystems/superstructure/SuperstructureConstants.java b/src/main/java/frc/robot/subsystems/superstructure/SuperstructureConstants.java
@@ -64,12 +64,12 @@ public static class ArmConstants {
 
     public static int leaderID =
         switch (Constants.getRobot()) {
-          default -> 1;
+          default -> 25;
         };
 
     public static int followerID =
         switch (Constants.getRobot()) {
-          default -> 2;
+          default -> 26;
         };
 
     public static boolean leaderInverted =
@@ -94,7 +94,7 @@ public static class ArmConstants {
 
     public static ControllerConstants controllerConstants =
         switch (Constants.getRobot()) {
-          case SIMBOT -> new ControllerConstants(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.13);
+          case SIMBOT -> new ControllerConstants(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
           case RAINBOWT -> new ControllerConstants(0.0, 0.0, 0.0, 0.0, 1.84, 0.0001, 0.13);
           case COMPBOT -> new ControllerConstants(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
         };