Added the FX motor code for the hooks , not all of the code is set #1
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@Alijah2424 - if you want to simulate the source ... ./gradlew build
./gradlew InstallAllTools
./gradlew simulateJava
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| FRONT_HOOKS_REVERSE_SPEED = 0.25, | ||
| FRONT_HOOKS_SPEED = 0.25, | ||
| REAR_HOOKS_REVERSE_SPEED = 0.25, | ||
| REAR_HOOKS_SPEED = 0.25; |
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I made up some speeds for the hooks we would have test and adjust these.
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| public static final int HOOK_LEFT_REAR_MOTOR = 15, | ||
| HOOK_RIGHT_REAR_MOTOR = 16, | ||
| HOOK_FRONT_MOTOR = 17; |
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I made up some motor addresses for this , we would need to use the tuner to assign these. If it has nto been assigned already we would beable to see that when we connect the tuner.
| private final JoystickButton m_intakeButton = new JoystickButton(m_manipulatorStick, F310Controller.Button.kBumperRight.getValue()); | ||
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| /** The container for the robot. Contains subsystems, OI devices, and commands. */ | ||
| public RobotContainer() { |
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This is where we add the controls for the hooks. @Alijah2424
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| import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX; | ||
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| public class HookArm extends WPI_TalonFX { |
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I extended this to the new talo class in case we need to add extra which I doubt
| import edu.wpi.first.wpilibj.motorcontrol.MotorControllerGroup; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class HookClimbingSubSystem extends SubsystemBase { |
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We would have to add the stop , and run and any other functions , I made build and interface for the most common
| public void robotInit() { | ||
| // Instantiate our RobotContainer. This will perform all our button bindings, and put our | ||
| // autonomous chooser on the dashboard. | ||
| m_robotContainer = new RobotContainer(); |
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This is where the rooto container is started.
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As a note, this isn't the right robot for the hooks. You're looking for FRC322Java2022, our 2022 robot code. |
Please keep this open until all the code is done . We still have to make the command class and integrate it with the joysticks.
@Alijah2424 You can set the addresses with the phoenix tuner and identify the address of the other devices
https://store.ctr-electronics.com/software/
You would need to connect through the roborio