Climb #6
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| package frc.robot.subsystems.climber; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import com.revrobotics.spark.SparkMax; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; | ||
| import com.revrobotics.RelativeEncoder; | ||
| import com.revrobotics.spark.SparkClosedLoopController; | ||
| import com.revrobotics.spark.config.SparkMaxConfig; | ||
| import com.revrobotics.spark.SparkBase.PersistMode; | ||
| import com.revrobotics.spark.SparkBase.ResetMode; | ||
| import com.revrobotics.spark.config.SparkBaseConfig.IdleMode; | ||
| import com.revrobotics.spark.SparkBase.ControlType; | ||
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| public class Climber extends SubsystemBase { | ||
| private static final double DEPLOY_POSITION = 3.00; // Change this value as needed (Unit is rotations) | ||
| private static final double RETRACT_POSITION = 0.00; // Change this value as needed (Unit is rotations) | ||
| private final SparkMax climberMotor; | ||
| private final RelativeEncoder climberEncoder; | ||
| private final SparkClosedLoopController climberController; | ||
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| public Climber(int ClimberMotorID) { | ||
| //Motor initialization | ||
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There was a problem hiding this comment. Comments are only for when the code can't explain itself; this code can explain itself. Additionally, there should be a space after the |
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| this.climberMotor = new SparkMax(ClimberMotorID, MotorType.kBrushless); | ||
| //Encoder initialization | ||
| climberEncoder = climberMotor.getEncoder(); | ||
| climberEncoder.setPosition(0.0); | ||
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| //Closed loop controller initialization | ||
| climberController = climberMotor.getClosedLoopController(); | ||
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| SparkMaxConfig config = new SparkMaxConfig(); | ||
| config.smartCurrentLimit(20); //20 amps | ||
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There was a problem hiding this comment. Current limit should go in constants; default should be ~40 amps. |
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| config.idleMode(IdleMode.kBrake); | ||
| climberMotor.configure(config, ResetMode.kResetSafeParameters, PersistMode.kNoPersistParameters); // Note to set PID in this line | ||
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| } | ||
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| public void gotoPOS(double position) { | ||
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| climberController.setReference(position, ControlType.kPosition); | ||
| } | ||
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| public void deploy() { | ||
| gotoPOS(DEPLOY_POSITION); | ||
| } | ||
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| public void retract() { | ||
| gotoPOS(RETRACT_POSITION); | ||
| } | ||
| } | ||
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These are constants, so they should go in
Constants.java.