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29 changes: 29 additions & 0 deletions
29
src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/feeder/Feeder.java
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66 changes: 65 additions & 1 deletion
66
...ava/org/littletonrobotics/frc2024/subsystems/superstructure/intake/IntakeIOKrakenFOC.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,69 @@ | ||
| package org.littletonrobotics.frc2024.subsystems.superstructure.intake; | ||
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| import static org.littletonrobotics.frc2024.subsystems.superstructure.SuperstructureConstants.IntakeConstants.*; | ||
|
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| import com.ctre.phoenix6.BaseStatusSignal; | ||
| import com.ctre.phoenix6.StatusSignal; | ||
| import com.ctre.phoenix6.configs.TalonFXConfiguration; | ||
| import com.ctre.phoenix6.controls.NeutralOut; | ||
| import com.ctre.phoenix6.controls.VoltageOut; | ||
| import com.ctre.phoenix6.hardware.TalonFX; | ||
| import com.ctre.phoenix6.signals.InvertedValue; | ||
| import com.ctre.phoenix6.signals.NeutralModeValue; | ||
| import edu.wpi.first.math.util.Units; | ||
|
|
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| public class IntakeIOKrakenFOC implements IntakeIO { | ||
| public IntakeIOKrakenFOC() {} | ||
| private final TalonFX motor; | ||
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| private final TalonFX otherMotor; | ||
| private StatusSignal<Double> velocityRadsPerSec; | ||
| private StatusSignal<Double> positionRads; | ||
| private StatusSignal<Double> appliedVoltage; | ||
| private StatusSignal<Double> currentAmps; | ||
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| public IntakeIOKrakenFOC() { | ||
| motor = new TalonFX(2, "canivore"); | ||
| otherMotor = new TalonFX(3); | ||
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| TalonFXConfiguration config = new TalonFXConfiguration(); | ||
| config.CurrentLimits.SupplyCurrentLimit = 30.0; | ||
| config.CurrentLimits.SupplyCurrentLimitEnable = true; | ||
| config.Voltage.PeakForwardVoltage = 12.0; | ||
| config.Voltage.PeakReverseVoltage = -12.0; | ||
| config.MotorOutput.NeutralMode = NeutralModeValue.Brake; | ||
| config.MotorOutput.Inverted = | ||
| inverted ? InvertedValue.Clockwise_Positive : InvertedValue.CounterClockwise_Positive; | ||
| motor.getConfigurator().apply(config); | ||
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| velocityRadsPerSec = motor.getVelocity(); | ||
| positionRads = motor.getPosition(); | ||
| appliedVoltage = motor.getMotorVoltage(); | ||
| currentAmps = motor.getTorqueCurrent(); | ||
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| BaseStatusSignal.setUpdateFrequencyForAll( | ||
| 100.0, velocityRadsPerSec, positionRads, appliedVoltage, currentAmps); | ||
| } | ||
|
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| @Override | ||
| public void updateInputs(IntakeIOInputs inputs) { | ||
| BaseStatusSignal.refreshAll(velocityRadsPerSec, positionRads, appliedVoltage, currentAmps); | ||
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| inputs.velocityRadsPerSec = | ||
| Units.rotationsToRadians(velocityRadsPerSec.getValueAsDouble()) / reduction; | ||
| inputs.positionRads = Units.rotationsToRadians(positionRads.getValueAsDouble()) / reduction; | ||
| inputs.appliedVoltage = appliedVoltage.getValueAsDouble(); | ||
| inputs.currentAmps = currentAmps.getValueAsDouble(); | ||
| } | ||
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| @Override | ||
| public void setVoltage(double volts) { | ||
| motor.setControl(new VoltageOut(volts).withEnableFOC(true)); | ||
| otherMotor.setControl(new VoltageOut(volts).withEnableFOC(true)); | ||
| } | ||
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| @Override | ||
| public void stop() { | ||
| motor.setControl(new NeutralOut()); | ||
| otherMotor.setControl(new NeutralOut()); | ||
| } | ||
| } |