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Castor2026
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subsystems/TurretSubsystem: Remove azimuth motor

This commit is contained in:
Ray Healy 2026-03-11 20:33:26 -04:00
parent 96d8d02428
commit 63542540a7
1 changed files with 12 additions and 10 deletions
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22
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -29,7 +29,8 @@ public class TurretSubsystem extends TestableSubsystem {
private TurretState currentState; private TurretState currentState;
private DigitalInput turretLimitSwitch; private DigitalInput turretLimitSwitch;
private TalonFX turretMotor; // TODO: Reinsert the turret once motor is installed
//private TalonFX turretMotor;
private SparkMax launcherMotor; private SparkMax launcherMotor;
private Servo hood; private Servo hood;
private CANcoder hoodEncoder; private CANcoder hoodEncoder;
@ -40,8 +41,8 @@ public class TurretSubsystem extends TestableSubsystem {
public TurretSubsystem() { public TurretSubsystem() {
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL); turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL);
turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID); //turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID);
SetMotorDirection(turretMotor, Constants.ShooterConstants.TURRET_MOTOR_DIRECTION); //SetMotorDirection(turretMotor, Constants.ShooterConstants.TURRET_MOTOR_DIRECTION);
launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless); launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless);
SparkMaxConfig config = new SparkMaxConfig() SparkMaxConfig config = new SparkMaxConfig()
@ -69,7 +70,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void startHoming() public void startHoming()
{ {
turretMotor.set(Constants.ShooterConstants.HOMING_SPEED); //turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
currentState = TurretState.HOMING; currentState = TurretState.HOMING;
} }
@ -79,11 +80,11 @@ public class TurretSubsystem extends TestableSubsystem {
if(!passedLimit()) if(!passedLimit())
{ {
turretMotor.set(speed); //turretMotor.set(speed);
} }
else else
{ {
turretMotor.set(0); //turretMotor.set(0);
} }
} }
@ -93,7 +94,8 @@ public class TurretSubsystem extends TestableSubsystem {
public Angle getTurretAngle() public Angle getTurretAngle()
{ {
return turretMotor.getPosition().refresh().getValue().times(Constants.ShooterConstants.TURRET_GEAR_RATIO); // return turretMotor.getPosition().refresh().getValue().times(Constants.ShooterConstants.TURRET_GEAR_RATIO);
return Units.Degrees.of(0.0);
} }
@Override @Override
@ -117,8 +119,8 @@ public class TurretSubsystem extends TestableSubsystem {
if(turretLimitSwitch.get()) if(turretLimitSwitch.get())
{ {
currentState = TurretState.MANUAL; currentState = TurretState.MANUAL;
turretMotor.set(0); //turretMotor.set(0);
turretMotor.setPosition(0); //turretMotor.setPosition(0);
} }
} }
@ -126,7 +128,7 @@ public class TurretSubsystem extends TestableSubsystem {
{ {
if(passedLimit()) if(passedLimit())
{ {
turretMotor.set(0); //turretMotor.set(0);
} }
int k = 1; int k = 1;