23 lines
685 B
Python
23 lines
685 B
Python
import magicbot
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from phoenix6.hardware import TalonFX
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from phoenix6.configs.talon_fx_configs import TalonFXConfiguration
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from phoenix6.signals import NeutralModeValue
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from phoenix6.controls import VoltageOut
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from wpimath import units
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class Intake:
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motor: TalonFX
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voltage = magicbot.will_reset_to(0.0)
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def execute(self):
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motor_control = VoltageOut(self.voltage)
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self.motor.set_control(motor_control)S
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def setup(self):
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config = TalonFXConfiguration()
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config.motor_output.neutral_mode = NeutralModeValue.BRAKE
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self.motor.configurator.apply(config)
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def set_voltage(self, voltage: units.volts):
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self.voltage = voltage |