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all subsystems base code (yet to test)
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,72 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
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| package frc.robot.subsystems; | ||
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| import com.revrobotics.spark.ClosedLoopSlot; | ||
| import com.revrobotics.spark.SparkClosedLoopController; | ||
| import com.revrobotics.spark.SparkMax; | ||
| import com.revrobotics.spark.SparkBase.ControlType; | ||
| import com.revrobotics.spark.config.SparkMaxConfig; | ||
| import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; | ||
| import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
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| public class Elevator extends SubsystemBase { | ||
| private final SparkMax leftMotor; | ||
| private final SparkMax rightMotor; | ||
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| private final SparkMaxConfig leftMotorConfig; | ||
| private final SparkMaxConfig rightMotorConfig; | ||
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| private SparkClosedLoopController leftController; | ||
| private SparkClosedLoopController rightController; | ||
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| /** Creates a new Elevator. */ | ||
| public Elevator() { | ||
| leftMotor = new SparkMax(Constants.ElevatorConstants.leftSparkMax, SparkMax.MotorType.kBrushless); | ||
| leftMotorConfig = new SparkMaxConfig(); | ||
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| leftMotorConfig | ||
| .inverted(Constants.ElevatorConstants.leftInverted) | ||
| .smartCurrentLimit(Constants.ElevatorConstants.leftCurrentLimit) | ||
| .idleMode(IdleMode.kBrake) | ||
| .encoder.positionConversionFactor(1/12); | ||
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| leftMotorConfig.closedLoop | ||
| .feedbackSensor(FeedbackSensor.kPrimaryEncoder) | ||
| .outputRange(-1, 1) | ||
| .pid(Constants.ElevatorConstants.leftKP, Constants.ElevatorConstants.leftKI, Constants.ElevatorConstants.leftKD); | ||
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| leftController = leftMotor.getClosedLoopController(); | ||
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| rightMotor = new SparkMax(Constants.ElevatorConstants.rightSparkMax, SparkMax.MotorType.kBrushless); | ||
| rightMotorConfig = new SparkMaxConfig(); | ||
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| rightMotorConfig | ||
| .inverted(Constants.ElevatorConstants.rightInverted) | ||
| .smartCurrentLimit(Constants.ElevatorConstants.rightCurrentLimit) | ||
| .idleMode(IdleMode.kBrake) | ||
| .encoder.positionConversionFactor(1/12); | ||
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| rightMotorConfig.closedLoop | ||
| .feedbackSensor(FeedbackSensor.kPrimaryEncoder) | ||
| .outputRange(-1, 1) | ||
| .pid(Constants.ElevatorConstants.rightKP, Constants.ElevatorConstants.rightKI, Constants.ElevatorConstants.rightKD); | ||
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| rightController = rightMotor.getClosedLoopController(); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
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| public void setElevatorPosition(double position) { | ||
| leftController.setReference(position, ControlType.kPosition, ClosedLoopSlot.kSlot0); | ||
| rightController.setReference(position, ControlType.kPosition, ClosedLoopSlot.kSlot0); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,71 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.subsystems; | ||
|
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| import com.revrobotics.spark.ClosedLoopSlot; | ||
| import com.revrobotics.spark.SparkClosedLoopController; | ||
| import com.revrobotics.spark.SparkMax; | ||
| import com.revrobotics.spark.SparkBase.ControlType; | ||
| import com.revrobotics.spark.SparkBase.ResetMode; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; | ||
| import com.revrobotics.spark.config.SparkMaxConfig; | ||
| import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor; | ||
| import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
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| public class Intake extends SubsystemBase { | ||
| private final SparkMax wristMotor; | ||
| private final SparkMax spinnerMotor; | ||
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| private final SparkMaxConfig wristConfig; | ||
| private final SparkMaxConfig spinnerConfig; | ||
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| private SparkClosedLoopController wristController; | ||
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| /** Creates a new Intake. */ | ||
| public Intake() { | ||
| wristMotor = new SparkMax(Constants.IntakeConstants.wristSparkMax, MotorType.kBrushless); | ||
| wristConfig = new SparkMaxConfig(); | ||
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| wristConfig | ||
| .inverted(Constants.IntakeConstants.wristInverted) | ||
| .smartCurrentLimit(Constants.IntakeConstants.wristCurrentLimit) | ||
| .idleMode(IdleMode.kBrake) | ||
| .encoder.positionConversionFactor(1/12); | ||
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| wristConfig.closedLoop | ||
| .feedbackSensor(FeedbackSensor.kPrimaryEncoder) | ||
| .outputRange(-1, 1) | ||
| .pid(Constants.IntakeConstants.wristKP, Constants.IntakeConstants.wristKI, Constants.IntakeConstants.wristKD); | ||
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| wristMotor.configure(wristConfig, ResetMode.kResetSafeParameters, null); | ||
| wristController = wristMotor.getClosedLoopController(); | ||
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| spinnerMotor = new SparkMax(Constants.IntakeConstants.spinnerSparkMax, MotorType.kBrushless); | ||
| spinnerConfig = new SparkMaxConfig(); | ||
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| spinnerConfig | ||
| .inverted(Constants.IntakeConstants.spinnerInverted) | ||
| .smartCurrentLimit(Constants.IntakeConstants.spinnerCurrentLimit) | ||
| .idleMode(IdleMode.kBrake); | ||
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| spinnerMotor.configure(spinnerConfig, ResetMode.kResetSafeParameters, null); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
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| public void setWristPosition(double position) { | ||
| wristController.setReference(position, ControlType.kPosition, ClosedLoopSlot.kSlot0); | ||
| } | ||
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| public void setSpinnerPower(double power) { | ||
| spinnerMotor.set(power); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.subsystems; | ||
|
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| import com.revrobotics.spark.SparkMax; | ||
| import com.revrobotics.spark.SparkBase.ResetMode; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; | ||
| import com.revrobotics.spark.config.SparkMaxConfig; | ||
| import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
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| public class Outtake extends SubsystemBase { | ||
| private final SparkMax spinnerMotor; | ||
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| private final SparkMaxConfig spinnerConfig; | ||
| /** Creates a new Outtake. */ | ||
| public Outtake() { | ||
| spinnerMotor = new SparkMax(Constants.OuttakeConstants.spinnerSparkMax, MotorType.kBrushless); | ||
| spinnerConfig = new SparkMaxConfig(); | ||
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| spinnerConfig | ||
| .inverted(Constants.OuttakeConstants.spinnerInverted) | ||
| .smartCurrentLimit(Constants.OuttakeConstants.spinnerCurrentLimit) | ||
| .idleMode(IdleMode.kBrake); | ||
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| spinnerMotor.configure(spinnerConfig, ResetMode.kResetSafeParameters, null); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
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| public void setOuttakeSpeed(double speed) { | ||
| spinnerMotor.set(speed); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.subsystems; | ||
|
|
||
| import com.revrobotics.spark.SparkMax; | ||
| import com.revrobotics.spark.SparkBase.ResetMode; | ||
| import com.revrobotics.spark.config.SparkMaxConfig; | ||
| import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; | ||
|
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
|
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| public class Passage extends SubsystemBase { | ||
| private final SparkMax spinnerMotor; | ||
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| private final SparkMaxConfig spinnerConfig; | ||
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| /** Creates a new Passage. */ | ||
| public Passage() { | ||
| spinnerMotor = new SparkMax(Constants.PassageConstants.spinnerSparkMax, SparkMax.MotorType.kBrushless); | ||
| spinnerConfig = new SparkMaxConfig(); | ||
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| spinnerConfig | ||
| .inverted(Constants.PassageConstants.spinnerInverted) | ||
| .smartCurrentLimit(Constants.PassageConstants.spinnerCurrentLimit) | ||
| .idleMode(IdleMode.kCoast); | ||
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| spinnerMotor.configure(spinnerConfig, ResetMode.kResetSafeParameters, null); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| // This method will be called once per scheduler run | ||
| } | ||
|
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| public void setSpinnerSpeed(double speed) { | ||
| spinnerMotor.set(speed); | ||
| } | ||
| } |