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set motor configs #117

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set motor configs #117

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14 changes: 12 additions & 2 deletions src/main/java/frc/robot/constants/ConstFreeSpin.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@
import static edu.wpi.first.units.Units.RPM;

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;

import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
import edu.wpi.first.units.measure.AngularVelocity;
Expand Down Expand Up @@ -66,6 +67,15 @@ public class ConstFreeSpin {
flywheelSpeedMap.put(Inches.of(150).in(Inches), RPM.of(3700).in(RPM));
flywheelSpeedMap.put(Inches.of(140).in(Inches), RPM.of(3600).in(RPM));
flywheelSpeedMap.put(Inches.of(120).in(Inches), RPM.of(3400).in(RPM));
flywheelSpeedMap.put(Inches.of(0).in(Inches), RPM.of(3400).in(RPM)); // Configure TalonFXConfiguration objects here

INTAKE_ROLLERS_EAST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
INTAKE_ROLLERS_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
HOTDOG_ROLLERS_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
TRANSFER_BELT_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Brake;
AGITATOR_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
FLYWHEEL_EAST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
FLYWHEEL_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
TRANSFER_RAMP_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Brake;

}
}
}
4 changes: 4 additions & 0 deletions src/main/java/frc/robot/constants/ConstPositional.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
import static edu.wpi.first.units.Units.Seconds;

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;

import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap;
import edu.wpi.first.units.Units;
Expand Down Expand Up @@ -104,5 +105,8 @@ public class ConstPositional {
INTAKE_SLIDE_CONFIGURATION.Feedback.SensorToMechanismRatio = 1.0 / ((10.0 / 30.0) * (1.0 * Math.PI));
HOOD_PIVOT_CONFIGURATION.Feedback.SensorToMechanismRatio = 1.0 / ((10.0 / 130.0) * (12.0 / 30.0));
TURRET_CONFIGURATION.Feedback.SensorToMechanismRatio = 1.0 / ((12.0 / 58.0) * (10.0 / 90.0));

INTAKE_SLIDE_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Brake;
HOOD_PIVOT_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Brake;
}
}
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