Skip to content

Refactor rotor subsystem to clarify leader and follower roles for motors （*゜ー゜*） #69

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
AngelaKimmy merged 5 commits into from
Jun 14, 2026
Merged

Refactor rotor subsystem to clarify leader and follower roles for motors （*゜ー゜*） #69

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
5 commits
Select commit Hold shift + click to select a range
13f281e
Refactor rotor subsystem to clarify leader and follower roles for motors
TaylerUva Jun 13, 2026
569c26c
Merge branch 'main' into tuva/transfer_fix
FRCTeam3255-Shared-K1-10 Jun 13, 2026
3966a99
fixxed west transfer
FRCTeam3255-Shared-K1-10 Jun 14, 2026
4f949a8
qf
Wu-Fan-529 Jun 14, 2026
7227605
Merge branch 'tuva/transfer_fix' of https://github.com/FRCTeam3255/20…
Wu-Fan-529 Jun 14, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 7 additions & 1 deletion src/main/java/frc/robot/constants/ConstRotors.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,13 @@ public class ConstRotors {

TRANSFER_ROLLERS_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
TRANSFER_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;

TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kP = 0.7;
TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kS = 0.15;
TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kV = 0.12;
TRANSFER_ROLLERS_WEST_CONFIGURATION.Slot0.kA = 0;
TRANSFER_ROLLERS_WEST_CONFIGURATION.MotionMagic.MotionMagicCruiseVelocity = 0;
TRANSFER_ROLLERS_WEST_CONFIGURATION.MotionMagic.MotionMagicAcceleration = 9999;
TRANSFER_ROLLERS_WEST_CONFIGURATION.MotionMagic.MotionMagicJerk = 0;
}

}
83 changes: 48 additions & 35 deletions src/main/java/frc/robot/subsystems/Rotors.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,21 +20,33 @@
@Logged
public class Rotors extends SubsystemBase {

final TalonFX serializerRollers = new TalonFX(rotorIDs.SERIALIZER_ROLLERS_CAN);
final TalonFX intakeRollersWest = new TalonFX(rotorIDs.INTAKE_ROLLERS_WEST_CAN);
final TalonFX intakeRollersEast = new TalonFX(rotorIDs.INTAKE_ROLLERS_EAST_CAN);
final TalonFX transferRollersWest = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));
final TalonFX transferRollersEast = new TalonFX((rotorIDs.TRANSFER_ROLLERS_EAST_CAN));
final TalonFX serializerRollersLeader = new TalonFX(rotorIDs.SERIALIZER_ROLLERS_CAN);

final TalonFX intakeRollersWestFollower = new TalonFX(rotorIDs.INTAKE_ROLLERS_WEST_CAN);
final TalonFX intakeRollersEastLeader = new TalonFX(rotorIDs.INTAKE_ROLLERS_EAST_CAN);

final TalonFX transferRollersWestLeader = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));
final TalonFX transferRollersEastFollower = new TalonFX((rotorIDs.TRANSFER_ROLLERS_EAST_CAN));

final TalonFX flywheelTopWest = new TalonFX((rotorIDs.FLYWHEEL_TOP_WEST_CAN));
final TalonFX flywheelTopEast = new TalonFX((rotorIDs.FLYWHEEL_TOP_EAST_CAN));
final TalonFX flywheelTopEastLeader = new TalonFX((rotorIDs.FLYWHEEL_TOP_EAST_CAN));
final TalonFX flywheelBottomWest = new TalonFX((rotorIDs.FLYWHEEL_BOTTOM_WEST_CAN));
final TalonFX flywheelBottomEast = new TalonFX((rotorIDs.FLYWHEEL_BOTTOM_EAST_CAN));

AngularVelocity lastDesiredFlyWheelSpeed = Units.RPM.of(0);
AngularVelocity lastDesiredTransferRollersSpeed = Units.RPM.of(0);
Follower flywheelEastFollower = new Follower(flywheelTopEast.getDeviceID(), MotorAlignmentValue.Aligned);
Follower flywheelWestFollower = new Follower(flywheelTopEast.getDeviceID(), MotorAlignmentValue.Opposed);
Follower transferRollersEastFollower = new Follower(transferRollersWest.getDeviceID(), MotorAlignmentValue.Opposed);
Follower intakeRollerEastFollower = new Follower(intakeRollersEast.getDeviceID(), MotorAlignmentValue.Opposed);

Follower flywheelFollowerAlignedRequest = new Follower(flywheelTopEastLeader.getDeviceID(),
MotorAlignmentValue.Aligned);
Follower flywheelFollowerOpposedRequest = new Follower(flywheelTopEastLeader.getDeviceID(),
MotorAlignmentValue.Opposed);

Follower transferRollersFollowerOpposedRequest = new Follower(transferRollersWestLeader.getDeviceID(),
MotorAlignmentValue.Opposed);

Follower intakeRollerWestFollowerOpposedRequest = new Follower(intakeRollersEastLeader.getDeviceID(),
MotorAlignmentValue.Opposed);

final MotionMagicVelocityVoltage flyWheelVelocityRequest = new MotionMagicVelocityVoltage(0);
final MotionMagicVelocityVoltage transferRollersVelocityRequest = new MotionMagicVelocityVoltage(0);
final MotionMagicVelocityVoltage serializerVelocityRequest = new MotionMagicVelocityVoltage(0);
Expand All @@ -44,12 +56,12 @@ public class Rotors extends SubsystemBase {
// private boolean intakeRollersAtSpeed = false;/

public Rotors() {
serializerRollers.getConfigurator().apply(ConstRotors.SERIALIZER_ROLLERS_CONFIGURATION);
intakeRollersEast.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_EAST_CONFIGURATION);
intakeRollersWest.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_WEST_CONFIGURATION);
transferRollersEast.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_EAST_CONFIGURATION);
transferRollersWest.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_WEST_CONFIGURATION);
flywheelTopEast.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
serializerRollersLeader.getConfigurator().apply(ConstRotors.SERIALIZER_ROLLERS_CONFIGURATION);
intakeRollersEastLeader.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_EAST_CONFIGURATION);
intakeRollersWestFollower.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_WEST_CONFIGURATION);
transferRollersEastFollower.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_EAST_CONFIGURATION);
transferRollersWestLeader.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_WEST_CONFIGURATION);
flywheelTopEastLeader.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
flywheelTopWest.getConfigurator().apply(ConstRotors.FLYWHEEL_WEST_CONFIGURATION);
flywheelBottomEast.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
flywheelBottomWest.getConfigurator().apply(ConstRotors.FLYWHEEL_WEST_CONFIGURATION);
Expand All @@ -62,53 +74,54 @@ public AngularVelocity getFlyWheelSpeeds() {
if (Robot.isSimulation()) {
return lastDesiredFlyWheelSpeed;
}
return flywheelTopEast.getVelocity().getValue();
return flywheelTopEastLeader.getVelocity().getValue();
}

public AngularVelocity getSerializerRollersVelocity() {
return serializerRollers.getVelocity().getValue();
return serializerRollersLeader.getVelocity().getValue();
}

public AngularVelocity getIntakeRollersVelocity() {
return intakeRollersEast.getVelocity().getValue();
return intakeRollersEastLeader.getVelocity().getValue();
}

public AngularVelocity getTransferRollersVelocity() {
return transferRollersEast.getVelocity().getValue();
return transferRollersWestLeader.getVelocity().getValue();
}
Comment thread
AngelaKimmy marked this conversation as resolved.

public void setSerializerRollersPercentOutput(Double speed) {
serializerRollers.set(speed);
serializerRollersLeader.set(speed);
}

public void setIntakeRollersPercentOutput(Double speed) {
intakeRollersEast.set(speed);
intakeRollersWest.setControl(intakeRollerEastFollower);
intakeRollersEastLeader.set(speed);
intakeRollersWestFollower.setControl(intakeRollerWestFollowerOpposedRequest);
}

public void setTransferRollersSpeeds(AngularVelocity speed) {
transferRollersEast.setControl(transferRollersVelocityRequest.withVelocity(speed));
transferRollersWest.setControl(transferRollersEastFollower);
// THIS WAS THE BUG, LEADER AND FOLLOWER WERE SWITCHED
transferRollersWestLeader.setControl(transferRollersVelocityRequest.withVelocity(speed));
Comment thread
AngelaKimmy marked this conversation as resolved.
transferRollersEastFollower.setControl(transferRollersFollowerOpposedRequest);
}

public void setTransferRollersPercentOutput(Double speed) {
transferRollersEast.set(speed);
transferRollersWest.setControl(transferRollersEastFollower);
transferRollersWestLeader.set(speed);
transferRollersEastFollower.setControl(transferRollersFollowerOpposedRequest);
}
Comment thread
AngelaKimmy marked this conversation as resolved.

public void setFlyWheelSpeeds(AngularVelocity speed) {
flywheelTopEast.setControl(flyWheelVelocityRequest.withVelocity(speed));
flywheelTopWest.setControl(flywheelWestFollower);
flywheelBottomWest.setControl(flywheelWestFollower);
flywheelBottomEast.setControl(flywheelEastFollower);
flywheelTopEastLeader.setControl(flyWheelVelocityRequest.withVelocity(speed));
flywheelTopWest.setControl(flywheelFollowerOpposedRequest);
flywheelBottomWest.setControl(flywheelFollowerOpposedRequest);
flywheelBottomEast.setControl(flywheelFollowerAlignedRequest);
lastDesiredFlyWheelSpeed = speed;
}

public void setFlywheelPercentOutput(double speed) {
flywheelTopEast.set(speed);
flywheelTopWest.setControl(flywheelWestFollower);
flywheelBottomWest.setControl(flywheelWestFollower);
flywheelBottomEast.setControl(flywheelEastFollower);
flywheelTopEastLeader.set(speed);
flywheelTopWest.setControl(flywheelFollowerOpposedRequest);
flywheelBottomWest.setControl(flywheelFollowerOpposedRequest);
flywheelBottomEast.setControl(flywheelFollowerAlignedRequest);
}

public boolean isFlyWheelAtSpeed(AngularVelocity tolerance) {
Expand Down
Loading