Merge remote-tracking branch 'origin/pivot-subsystem' into 27-handoff…

…-command
Patribots4738 · Jan 22, 2024 · da30c84 · da30c84
2 parents 22fd539 + 4dbaa02
commit da30c84
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Showing 3 changed files with 32 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/subsystems/Shooter/Pivot.java b/src/main/java/frc/robot/subsystems/Shooter/Pivot.java
@@ -0,0 +1,29 @@
+package frc.robot.subsystems.Shooter;
+
+public class Pivot {
+    pivot = new Neo(ShooterConstants.SHOOTER_PIVOT_CAN_ID);
+    configMotor();
+}
+
+public void configMotor() {
+        pivot.setSmartCurrentLimit(PivotConstants.PIVOT_CURRENT_LIMIT);
+        // See https://docs.revrobotics.com/sparkmax/operating-modes/control-interfaces
+        pivot.setPeriodicFramePeriod(PeriodicFrame.kStatus3, 65535);
+        pivot.setPeriodicFramePeriod(PeriodicFrame.kStatus5, 65535);
+        pivot.setInverted(false);
+
+        Pivot.setPID(
+                ShooterConstants.SHOOTER_P,
+                ShooterConstants.SHOOTER_I,
+                ShooterConstants.SHOOTER_D,
+                ShooterConstants.SHOOTER_MIN_OUTPUT,
+                ShooterConstants.SHOOTER_MAX_OUTPUT);
+
+
+        //sets brake mode
+        pivot.setBrakeMode();
+    }
+
+public void setAngle(double angle) {
+    pivot.setTargetPosition(angle);
+}
diff --git a/...in/java/frc/robot/subsystems/Shooter.java → ...frc/robot/subsystems/Shooter/Shooter.java b/...in/java/frc/robot/subsystems/Shooter.java → ...frc/robot/subsystems/Shooter/Shooter.java
diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -100,6 +100,8 @@ public static final class ShooterConstants {
         public static final int RIGHT_SHOOTER_CAN_ID = 12;
         public static final int SHOOTER_PIVOT_CAN_ID = 13;
 
+        public static final int PIVOT_MOTOR_CURRENT_LIMIT = 20; // amps
+
         public static final double SHOOTER_P = 0.01;
         public static final double SHOOTER_I = 0;
         public static final double SHOOTER_D = 0;
@@ -299,8 +301,7 @@ public static final class IntakeConstants {
         // % speeds of the motor
         public static final double INTAKE_SPEED = 0.5;
         public static final double OUTTAKE_SPEED = -0.5;
-	    public static final double STOP_SPEED = 0;
-
+	public static final double STOP_SPEED = 0;
         public static final int INTAKE_FREE_CURRENT_LIMIT_AMPS = 15;
         public static final int INTAKE_STALL_CURRENT_LIMIT_AMPS = 7;