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src/robot/subsystems: Added invert motor direction flags

This commit is contained in:
Ray Healy 2026-03-11 19:56:48 -04:00
parent 45d4fd16bc
commit f3c7a35d0e
4 changed files with 50 additions and 25 deletions
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28
src/main/java/frc/robot/Constants.java
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@ -9,6 +9,8 @@ import edu.wpi.first.units.Unit;
import edu.wpi.first.units.measure.Angle;
import java.security.PublicKey;
import com.ctre.phoenix6.signals.InvertedValue;
/**
* The Constants class provides a convenient place for teams to hold robot-wide numerical or boolean
* constants. This class should not be used for any other purpose. All constants should be declared
@ -67,23 +69,30 @@ public final class Constants {
public static class IntakeConstants {
public static final int DEPLOY_MOTOR_ID = 12;
public static final boolean DEPLOY_MOTOR_INVERTED = true; // TODO: Test this
public static final int INTAKE_MOTOR_ID = 1;
public static final InvertedValue INTAKE_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive; // TODO: Test this
}
public static class ShooterConstants {
public static final int LIMIT_CHANNEL = 0;
public static final int TURRET_ID = 1;
public static final int LAUNCHER_ID = 2;
public static final int HOOD_CHANNEL = 3;
public static final int HOOD_ENCODER_ID = 4;
public static final int LAUNCHER_MOTOR_ID = 2;
public static final boolean LAUNCHER_MOTOR_INVERTED = true; // TODO: Test this
public static final int TURRET_MOTOR_ID = 1;
public static final InvertedValue TURRET_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
public static final int TURRET_LIMIT_CHANNEL = 0;
public static final Angle LIMIT_AXIMUTH_POS = edu.wpi.first.units.Units.Degrees.of(265);
public static final Angle LIMIT_AXIMUTH_NEG = edu.wpi.first.units.Units.Degrees.of(5);
public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);
public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
public static final double HOMING_SPEED = .35;
public static final double TURRET_GEAR_RATIO = 1;
public static final int HOOD_SERVO_CHANNEL = 3;
public static final boolean HOOD_SERVO_INVERTED = true; // TODO: Test this
public static final int HOOD_ENCODER_ID = 4;
public static final Angle TARGET_ELEVATION_DIF = edu.wpi.first.units.Units.Degrees.of(1);
public static final Angle LIMIT_ELEVATION_POS = edu.wpi.first.units.Units.Degrees.of(90);
public static final Angle LIMIT_ELEVATION_NEG = edu.wpi.first.units.Units.Degrees.of(0);
public static final Angle DEFLECTOR_STORED_ANGLE = edu.wpi.first.units.Units.Degrees.of(0);
public static final Angle DEFLECTOR_SET_ANGLE1 = edu.wpi.first.units.Units.Degrees.of(20);
public static final Angle DEFLECTOR_SET_ANGLE2 = edu.wpi.first.units.Units.Degrees.of(40);
@ -92,6 +101,9 @@ public final class Constants {
public static class HopperConstants {
public static final int KICKER_MOTOR_ID = 0;
public static final InvertedValue KICKER_MOTOR_DIRECTION = InvertedValue.CounterClockwise_Positive;
public static final int SPINDEXER_MOTOR_ID = 1;
public static final InvertedValue SPINDEXER_MOTOR_DIRECTION = InvertedValue.Clockwise_Positive;
}
}

7
src/main/java/frc/robot/subsystems/HopperSubsystem.java
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@ -6,10 +6,12 @@ package frc.robot.subsystems;
import org.fairportrobotics.frc.posty.TestableSubsystem;
import org.fairportrobotics.frc.posty.test.PostTest;
import com.ctre.phoenix6.hardware.TalonFX;
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
import static org.fairportrobotics.frc.robolib.motors.Utils.*;
import frc.robot.Constants;
import frc.robot.commands.ManualHopperCommand;
public class HopperSubsystem extends TestableSubsystem {
@ -18,7 +20,10 @@ public class HopperSubsystem extends TestableSubsystem {
/** Creates a new HopperSubsystem. */
public HopperSubsystem() {
spindexerMotor = new TalonFX(Constants.HopperConstants.SPINDEXER_MOTOR_ID);
SetMotorDirection(spindexerMotor, Constants.HopperConstants.SPINDEXER_MOTOR_DIRECTION);
kickerMotor = new TalonFX(Constants.HopperConstants.KICKER_MOTOR_ID);
SetMotorDirection(kickerMotor, Constants.HopperConstants.KICKER_MOTOR_DIRECTION);
}
public void feed() {kickerMotor.set(0.5);}

10
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@ -9,16 +9,13 @@ import org.fairportrobotics.frc.posty.test.PostTest;
import com.ctre.phoenix.motorcontrol.LimitSwitchNormal;
import com.ctre.phoenix.motorcontrol.LimitSwitchSource;
import com.ctre.phoenix.motorcontrol.can.TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix6.hardware.TalonFX;
import frc.robot.Constants;
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
import static org.fairportrobotics.frc.robolib.motors.Utils.*;
import java.time.chrono.ThaiBuddhistChronology;
import edu.wpi.first.hal.FRCNetComm.tInstances;
import edu.wpi.first.wpilibj.DigitalOutput;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.Commands;
import edu.wpi.first.wpilibj2.command.FunctionalCommand;
@ -32,9 +29,12 @@ public class IntakeSubsystem extends TestableSubsystem {
public IntakeSubsystem()
{
intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID);
SetMotorDirection(intakeMotor, Constants.IntakeConstants.INTAKE_MOTOR_DIRECTION);
deployMotor = new WPI_TalonSRX(Constants.IntakeConstants.DEPLOY_MOTOR_ID);
deployMotor.configForwardLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
deployMotor.configReverseLimitSwitchSource(LimitSwitchSource.FeedbackConnector, LimitSwitchNormal.NormallyOpen);
deployMotor.setInverted(Constants.IntakeConstants.DEPLOY_MOTOR_INVERTED);
}
public void neutral()

28
src/main/java/frc/robot/subsystems/TurretSubsystem.java
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@ -5,21 +5,20 @@
package frc.robot.subsystems;
import org.fairportrobotics.frc.posty.TestableSubsystem;
import org.fairportrobotics.frc.posty.test.PostTest;
import com.ctre.phoenix6.configs.CANcoderConfiguration;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.config.SparkMaxConfig;
import static org.fairportrobotics.frc.posty.assertions.Assertions.*;
import frc.robot.Constants;
import static org.fairportrobotics.frc.robolib.motors.Utils.*;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Servo;
import edu.wpi.first.wpilibj2.command.Command;
public class TurretSubsystem extends TestableSubsystem {
public enum TurretState {
@ -40,12 +39,16 @@ public class TurretSubsystem extends TestableSubsystem {
private Angle targElev;
public TurretSubsystem() {
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.LIMIT_CHANNEL);
turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_ID);
turretLimitSwitch = new DigitalInput(Constants.ShooterConstants.TURRET_LIMIT_CHANNEL);
turretMotor = new TalonFX(Constants.ShooterConstants.TURRET_MOTOR_ID);
SetMotorDirection(turretMotor, Constants.ShooterConstants.TURRET_MOTOR_DIRECTION);
launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_ID, MotorType.kBrushless);
launcherMotor = new SparkMax(Constants.ShooterConstants.LAUNCHER_MOTOR_ID, MotorType.kBrushless);
SparkMaxConfig config = new SparkMaxConfig()
.apply((SparkMaxConfig) SparkMaxConfig.Presets.REV_NEO_2);
config.inverted(Constants.ShooterConstants.LAUNCHER_MOTOR_INVERTED);
hood = new Servo(Constants.ShooterConstants.HOOD_CHANNEL);
hood = new Servo(Constants.ShooterConstants.HOOD_SERVO_CHANNEL);
hoodEncoder = new CANcoder(Constants.ShooterConstants.HOOD_ENCODER_ID);
currentState = TurretState.INIT;
limitNeg = Constants.ShooterConstants.LIMIT_AXIMUTH_NEG;
@ -126,16 +129,21 @@ public class TurretSubsystem extends TestableSubsystem {
turretMotor.set(0);
}
int k = 1;
if(Constants.ShooterConstants.HOOD_SERVO_INVERTED) {
k=-1;
}
Angle curElev = hoodEncoder.getAbsolutePosition().getValue();
if(targElev.minus(curElev).abs(Units.Degrees)>Constants.ShooterConstants.TARGET_ELEVATION_DIF.in(Units.Degrees))
{
if(targElev.gt(curElev))
{
hood.set(50);
hood.set(k * 0.5);
}
else
{
hood.set(-50);
hood.set(k * -0.5);
}
}
else