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 TurretState currentState;
private DigitalInput turretLimitSwitch; private DigitalInput turretLimitSwitch;
private TalonFX turret; private TalonFX turretMotor;
private TalonFX launcher; private TalonFX launcherMotor;
private Servo hood; private Servo hood;
private CANcoder hoodEncoder; private CANcoder hoodEncoder;
private Angle limitPos; private Angle limitPos;
@ -39,9 +39,9 @@ public class TurretSubsystem extends TestableSubsystem {
public TurretSubsystem() { public TurretSubsystem() {
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.LIMIT_CHANNEL); 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); hood = new Servo(Constants.ShooterConstants.HOOD_CHANNEL);
hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID); hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);
@ -54,7 +54,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void setLauncher(double speed) public void setLauncher(double speed)
{ {
launcher.set(speed); launcherMotor.set(speed);
} }
public void setTargetElevation(Angle elev) public void setTargetElevation(Angle elev)
@ -67,7 +67,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void startHoming() public void startHoming()
{ {
turret.set(Constants.ShooterConstants.HOMING_SPEED); turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
currentState = TurretState.HOMING; currentState = TurretState.HOMING;
} }
@ -77,21 +77,21 @@ public class TurretSubsystem extends TestableSubsystem {
if(!passedLimit()) if(!passedLimit())
{ {
turret.set(speed); turretMotor.set(speed);
} }
else else
{ {
turret.set(0); turretMotor.set(0);
} }
} }
public boolean passedLimit() public boolean passedLimit(){
return (getTurretAngle().gt(limitPos) && turretGoingPos) || (getTurretAngle().lt(limitNeg) && !turretGoingPos); return (getTurretAngle().gt(limitPos) && turretGoingPos) || (getTurretAngle().lt(limitNeg) && !turretGoingPos);
} }
public Angle getTurretAngle() public Angle getTurretAngle()
{ {
return turret.getPosition().refresh().getValue().times(Constants.ShooterConstants.GEAR_RATIO); return turretMotor.getPosition().refresh().getValue().times(Constants.ShooterConstants.GEAR_RATIO);
} }
@Override @Override
@ -115,8 +115,8 @@ public class TurretSubsystem extends TestableSubsystem {
if(turretLimitSwitch.get()) if(turretLimitSwitch.get())
{ {
currentState = TurretState.MANUAL; currentState = TurretState.MANUAL;
turret.set(0); turretMotor.set(0);
turret.setPosition(0); turretMotor.setPosition(0);
} }
} }
@ -124,7 +124,7 @@ public class TurretSubsystem extends TestableSubsystem {
{ {
if(passedLimit()) if(passedLimit())
{ {
turret.set(0); turretMotor.set(0);
} }
Angle curElev = hoodEncoder.getAbsolutePosition().getValue(); Angle curElev = hoodEncoder.getAbsolutePosition().getValue();