Merge pull request #33 from WHS-FRC-3467/main

Update LED-Subsystem, most importantly to include the Claw-Rollers subsystem

.vscode/settings.json

@@ -66,4 +66,4 @@
     "editor.detectIndentation": false
   },
   "workbench.iconTheme": "vs-seti"
-}
+}

src/main/java/frc/robot/Constants.java

@@ -4,11 +4,6 @@
 
 package frc.robot;
 
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
-import com.ctre.phoenix6.signals.InvertedValue;
-import com.ctre.phoenix6.signals.NeutralModeValue;
-import edu.wpi.first.math.util.Units;
 import edu.wpi.first.wpilibj.RobotBase;
 
 public class Constants {
@@ -36,73 +31,6 @@ public static enum Mode {
         REPLAY
     }
 
-    public static final class ExampleSimpleSubsystemConstants {
-        public static final int ID_Motor = 10;
-
-        public static TalonFXConfiguration motorConfig()
-        {
-            TalonFXConfiguration m_configuration = new TalonFXConfiguration();
-
-            m_configuration.MotorOutput.NeutralMode = NeutralModeValue.Brake;
-            m_configuration.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-            m_configuration.Voltage.PeakForwardVoltage = 12.0;
-            m_configuration.Voltage.PeakReverseVoltage = -12.0;
-
-            m_configuration.CurrentLimits.SupplyCurrentLimit = 20;
-            m_configuration.CurrentLimits.SupplyCurrentLimitEnable = true;
-            m_configuration.CurrentLimits.StatorCurrentLimit = 70;
-            m_configuration.CurrentLimits.StatorCurrentLimitEnable = true;
-
-            return m_configuration;
-        }
-    }
-
-    public static final class ExampleComplexSubsystemConstants {
-        public static final int ID_Motor = 11;
-        public static final double upperLimit = Units.degreesToRadians(180);
-        public static final double lowerLimit = Units.degreesToRadians(0);
-        public static final double tolerance = Units.degreesToRadians(1);
-
-        public static TalonFXConfiguration motorConfig()
-        {
-            TalonFXConfiguration m_configuration = new TalonFXConfiguration();
-
-            m_configuration.MotorOutput.NeutralMode = NeutralModeValue.Brake;
-            m_configuration.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
-            m_configuration.Voltage.PeakForwardVoltage = 12.0;
-            m_configuration.Voltage.PeakReverseVoltage = -12.0;
-
-            m_configuration.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RotorSensor;
-            m_configuration.Feedback.SensorToMechanismRatio = 1;
-
-            m_configuration.Slot0.kP = 1; // output per unit of error in position (output/rotation)
-            m_configuration.Slot0.kI = 0; // output per unit of integrated error in position
-            // (output/(rotation*s))
-            m_configuration.Slot0.kD = 0; // output per unit of error derivative in position
-            // (output/rps)
-
-            m_configuration.Slot1.kG = 0; // output to overcome gravity (output)
-            m_configuration.Slot1.kS = 0; // output to overcome static friction (output)
-            m_configuration.Slot1.kV = 0; // output per unit of requested velocity (output/rps)
-            m_configuration.Slot1.kA = 0; // unused, as there is no target acceleration
-            m_configuration.Slot1.kP = 1; // output per unit of error in position (output/rotation)
-            m_configuration.Slot1.kI = 0; // output per unit of integrated error in position
-            // (output/(rotation*s))
-            m_configuration.Slot1.kD = 0; // output per unit of error derivative in position
-            // (output/rps)
-
-            m_configuration.MotionMagic.MotionMagicCruiseVelocity = 10;
-            m_configuration.MotionMagic.MotionMagicAcceleration = 10;
-            m_configuration.MotionMagic.MotionMagicJerk = 10;
-
-            m_configuration.CurrentLimits.SupplyCurrentLimit = 20;
-            m_configuration.CurrentLimits.SupplyCurrentLimitEnable = true;
-            m_configuration.CurrentLimits.StatorCurrentLimit = 70;
-            m_configuration.CurrentLimits.StatorCurrentLimitEnable = true;
-
-            return m_configuration;
-        }
-    }
 }
 
 

src/main/java/frc/robot/Ports.java

@@ -17,10 +17,7 @@ public class Ports {
     // "canivore1");
 
     /* SUBSYSTEM CAN DEVICE IDS */
-    public static final CanDeviceId SAMPLE_ROLLER = new CanDeviceId(15, "rio");
-
-    public static final CanDeviceId TWO_ROLLER_1 = new CanDeviceId(16, "rio");
-    public static final CanDeviceId TWO_ROLLER_2 = new CanDeviceId(17, "rio");
+    public static final CanDeviceId CLAW_ROLLER = new CanDeviceId(16, "rio");
 
     public static final CanDeviceId ELEVATOR_MAIN = new CanDeviceId(18, "rio");
     public static final CanDeviceId ELEVATOR_FOLLOWER = new CanDeviceId(19, "rio");
@@ -33,6 +30,9 @@ public class Ports {
     public static final CanDeviceId PROFROLLER_MAIN = new CanDeviceId(24, "rio");
     public static final CanDeviceId PROFROLLER_FOLLOWER = new CanDeviceId(25, "rio");
 
+    public static final CanDeviceId CLAW_LASERCAN = new CanDeviceId(33, "rio");
+    public static final CanDeviceId RAMP_LASERCAN = new CanDeviceId(34, "rio");
+
     public static final CanDeviceId CLIMBER = new CanDeviceId(26, "rio");
 
     public static final CanDeviceId CANDLE = new CanDeviceId(27, "rio");