FairportRobotics
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Castor2026
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Renamed

This commit is contained in:
TheRealGrayden 2026-03-07 14:24:47 -05:00
parent 07b7d86b5b
commit 0b71fe97b0
1 changed files with 13 additions and 13 deletions
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26
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -28,8 +28,8 @@ public class TurretSubsystem extends TestableSubsystem {
private TurretState currentState;
private DigitalInput turretLimitSwitch;
private TalonFX turret;
private TalonFX launcher;
private TalonFX turretMotor;
private TalonFX launcherMotor;
private Servo hood;
private CANcoder hoodEncoder;
private Angle limitPos;
@ -39,9 +39,9 @@ public class TurretSubsystem extends TestableSubsystem {
public TurretSubsystem() {
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.LIMIT_CHANNEL);
turret = new TalonFX(Constants.ShooterConstants.TURRET_ID);
turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_ID);
launcher = new TalonFX(Constants.ShooterConstants.LAUNCHER_ID);
launcherMotor = new TalonFX(Constants.ShooterConstants.LAUNCHER_ID);
hood = new Servo(Constants.ShooterConstants.HOOD_CHANNEL);
hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);
@ -54,7 +54,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void setLauncher(double speed)
{
launcher.set(speed);
launcherMotor.set(speed);
}
public void setTargetElevation(Angle elev)
@ -67,7 +67,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void startHoming()
{
turret.set(Constants.ShooterConstants.HOMING_SPEED);
turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
currentState = TurretState.HOMING;
}
@ -77,21 +77,21 @@ public class TurretSubsystem extends TestableSubsystem {
if(!passedLimit())
{
turret.set(speed);
turretMotor.set(speed);
}
else
{
turret.set(0);
turretMotor.set(0);
}
}
public boolean passedLimit()
public boolean passedLimit(){
return (getTurretAngle().gt(limitPos) && turretGoingPos) || (getTurretAngle().lt(limitNeg) && !turretGoingPos);
}
public Angle getTurretAngle()
{
return turret.getPosition().refresh().getValue().times(Constants.ShooterConstants.GEAR_RATIO);
return turretMotor.getPosition().refresh().getValue().times(Constants.ShooterConstants.GEAR_RATIO);
}
@Override
@ -115,8 +115,8 @@ public class TurretSubsystem extends TestableSubsystem {
if(turretLimitSwitch.get())
{
currentState = TurretState.MANUAL;
turret.set(0);
turret.setPosition(0);
turretMotor.set(0);
turretMotor.setPosition(0);
}
}
@ -124,7 +124,7 @@ public class TurretSubsystem extends TestableSubsystem {
{
if(passedLimit())
{
turret.set(0);
turretMotor.set(0);
}
Angle curElev = hoodEncoder.getAbsolutePosition().getValue();