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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 DigitalInput turretLimitSwitch;
private TalonFX turretMotor;
// TODO: Reinsert the turret once motor is installed
//private TalonFX turretMotor;
private SparkMax launcherMotor;
private Servo hood;
private CANcoder hoodEncoder;
@ -40,8 +41,8 @@ public class TurretSubsystem extends TestableSubsystem {
public TurretSubsystem() {
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL);
turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID);
SetMotorDirection(turretMotor, Constants.ShooterConstants.TURRET_MOTOR_DIRECTION);
//turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID);
//SetMotorDirection(turretMotor, Constants.ShooterConstants.TURRET_MOTOR_DIRECTION);
launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless);
SparkMaxConfig config = new SparkMaxConfig()
@ -69,7 +70,7 @@ public class TurretSubsystem extends TestableSubsystem {
public void startHoming()
{
turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
//turretMotor.set(Constants.ShooterConstants.HOMING_SPEED);
currentState = TurretState.HOMING;
}
@ -79,11 +80,11 @@ public class TurretSubsystem extends TestableSubsystem {
if(!passedLimit())
{
turretMotor.set(speed);
//turretMotor.set(speed);
}
else
{
turretMotor.set(0);
//turretMotor.set(0);
}
}
@ -93,7 +94,8 @@ public class TurretSubsystem extends TestableSubsystem {
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
@ -117,8 +119,8 @@ public class TurretSubsystem extends TestableSubsystem {
if(turretLimitSwitch.get())
{
currentState = TurretState.MANUAL;
turretMotor.set(0);
turretMotor.setPosition(0);
//turretMotor.set(0);
//turretMotor.setPosition(0);
}
}
@ -126,7 +128,7 @@ public class TurretSubsystem extends TestableSubsystem {
{
if(passedLimit())
{
turretMotor.set(0);
//turretMotor.set(0);
}
int k = 1;