Added wristcontroller subsystem

[Iprobablydontknowwhatimdoing]

No description provided.

[a-mishmash]

probbly fine

[Iprobablydontknowwhatimdoing]

wristMotor.setVoltage() should be wristMotor.set()

The docs say setVoltage is preferred:

Since feedforward voltages are physically meaningful, it is best to use the setVoltage() (Java, C++, Python) method when applying them to motors to compensate for “voltage sag” from the battery.

And in their doc on combining FeedForward with PID controls, WPILib uses setVoltage in their example:

public void tankDriveWithFeedforwardPID(double leftVelocitySetpoint, double rightVelocitySetpoint) {
  leftMotor.setVoltage(feedforward.calculate(leftVelocitySetpoint)
      + leftPID.calculate(leftEncoder.getRate(), leftVelocitySetpoint));
  rightMotor.setVoltage(feedForward.calculate(rightVelocitySetpoint)
      + rightPID.calculate(rightEncoder.getRate(), rightVelocitySetpoint));
}

https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/feedforward.html

[Amber-leaf]

the problem with that is that setVoltage() expects a voltage as the input, while the PID controller is solving assuming a 0-1 range. So you would be putting 0-1 volts into the motor which would not work for obvious reasons. You could try multiplying by 12, but that is basically just what the set() method does anyway.

…

-------- Original Message --------

On Wednesday, 01/28/26 at 11:00 Iprobablydontknowwhatimdoing ***@***.***> wrote: Iprobablydontknowwhatimdoing left a comment [(IronRiders/rebuilt#25)](#25 (comment)) > wristMotor.setVoltage() should be wristMotor.set() The docs say setVoltage is preferred: > Since feedforward voltages are physically meaningful, it is best to use the setVoltage() ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), [Python](https://robotpy.readthedocs.io/projects/robotpy/en/stable/wpilib.interfaces/MotorController.html#wpilib.interfaces.MotorController.setVoltage)) method when applying them to motors to compensate for “voltage sag” from the battery. And in their doc on combining FeedForward with PID controls, WPILib uses setVoltage in their example: public void tankDriveWithFeedforwardPID(double leftVelocitySetpoint, double rightVelocitySetpoint) { leftMotor.setVoltage(feedforward.calculate(leftVelocitySetpoint) + leftPID.calculate(leftEncoder.getRate(), leftVelocitySetpoint)); rightMotor.setVoltage(feedForward.calculate(rightVelocitySetpoint) + rightPID.calculate(rightEncoder.getRate(), rightVelocitySetpoint)); } https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/feedforward.html — Reply to this email directly, [view it on GitHub](#25 (comment)), or [unsubscribe](https://github.com/notifications/unsubscribe-auth/AZ2JPANJCUBUCQVAM2A5S434JEBK7AVCNFSM6AAAAACTDCRPU2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTQMJTGI3TONBVG4). You are receiving this because you commented.Message ID: ***@***.***>

[Amber-leaf]

and feed forward also compenstates some what for voltage sag, and it's just not a very big deal anyway. Even if you compensate for it, if more than like 3 motors are running you will not be able to avoid sag

…

-------- Original Message --------

On Wednesday, 01/28/26 at 13:54 isabelle901 ***@***.***> wrote: the problem with that is that setVoltage() expects a voltage as the input, while the PID controller is solving assuming a 0-1 range. So you would be putting 0-1 volts into the motor which would not work for obvious reasons. You could try multiplying by 12, but that is basically just what the set() method does anyway. -------- Original Message -------- On Wednesday, 01/28/26 at 11:00 Iprobablydontknowwhatimdoing ***@***.***> wrote: > Iprobablydontknowwhatimdoing left a comment [(IronRiders/rebuilt#25)](#25 (comment)) > >> wristMotor.setVoltage() should be wristMotor.set() > > The docs say setVoltage is preferred: > >> Since feedforward voltages are physically meaningful, it is best to use the setVoltage() ([Java](https://github.wpilib.org/allwpilib/docs/release/java/edu/wpi/first/wpilibj/motorcontrol/MotorController.html#setVoltage(double)), [C++](https://github.wpilib.org/allwpilib/docs/release/cpp/classfrc_1_1_motor_controller.html#a613c23a3336e103876e433bcb8b5ad3e), [Python](https://robotpy.readthedocs.io/projects/robotpy/en/stable/wpilib.interfaces/MotorController.html#wpilib.interfaces.MotorController.setVoltage)) method when applying them to motors to compensate for “voltage sag” from the battery. > > And in their doc on combining FeedForward with PID controls, WPILib uses setVoltage in their example: > > public void tankDriveWithFeedforwardPID(double leftVelocitySetpoint, double rightVelocitySetpoint) { leftMotor.setVoltage(feedforward.calculate(leftVelocitySetpoint) + leftPID.calculate(leftEncoder.getRate(), leftVelocitySetpoint)); rightMotor.setVoltage(feedForward.calculate(rightVelocitySetpoint) + rightPID.calculate(rightEncoder.getRate(), rightVelocitySetpoint)); } > > https://docs.wpilib.org/en/stable/docs/software/advanced-controls/controllers/feedforward.html > > — > Reply to this email directly, [view it on GitHub](#25 (comment)), or [unsubscribe](https://github.com/notifications/unsubscribe-auth/AZ2JPANJCUBUCQVAM2A5S434JEBK7AVCNFSM6AAAAACTDCRPU2VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZTQMJTGI3TONBVG4). > You are receiving this because you commented.Message ID: ***@***.***>

[Amber-leaf]

I like the new constant names though!

[Amber-leaf]

pona