From a33d8e3cd6e31817893c0545cb69862d8ce0cc95 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 29 Aug 2026 20:01:19 -0700 Subject: [PATCH 1/2] Created directions for motors --- src/main/java/frc/robot/constants/ConstFreeSpin.java | 6 ++++++ 1 file changed, 6 insertions(+) diff --git a/src/main/java/frc/robot/constants/ConstFreeSpin.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java index 86338e9..6b09bc2 100644 --- a/src/main/java/frc/robot/constants/ConstFreeSpin.java +++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java @@ -8,6 +8,7 @@ import static edu.wpi.first.units.Units.RPM; import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.InvertedValue; import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; import edu.wpi.first.units.measure.AngularVelocity; @@ -72,5 +73,10 @@ public class ConstFreeSpin { 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.Inverted = InvertedValue.CounterClockwise_Positive; + INTAKE_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + FLYWHEEL_EAST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + } } From 4660c2a8913db436be4d8df6351fd9ce7b471aa7 Mon Sep 17 00:00:00 2001 From: Justinpham17386769 Date: Sat, 29 Aug 2026 20:16:01 -0700 Subject: [PATCH 2/2] set more directions to more motors --- src/main/java/frc/robot/constants/ConstFreeSpin.java | 9 ++++++--- src/main/java/frc/robot/constants/ConstPositional.java | 5 +++++ 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/constants/ConstFreeSpin.java b/src/main/java/frc/robot/constants/ConstFreeSpin.java index 6b09bc2..2da71fa 100644 --- a/src/main/java/frc/robot/constants/ConstFreeSpin.java +++ b/src/main/java/frc/robot/constants/ConstFreeSpin.java @@ -74,9 +74,12 @@ public class ConstFreeSpin { 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.Inverted = InvertedValue.CounterClockwise_Positive; - INTAKE_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; + INTAKE_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; FLYWHEEL_EAST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; - FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; - + FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + TRANSFER_BELT_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + TRANSFER_RAMP_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + HOTDOG_ROLLERS_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + AGITATOR_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; } } diff --git a/src/main/java/frc/robot/constants/ConstPositional.java b/src/main/java/frc/robot/constants/ConstPositional.java index fba9ab9..ca87390 100644 --- a/src/main/java/frc/robot/constants/ConstPositional.java +++ b/src/main/java/frc/robot/constants/ConstPositional.java @@ -9,6 +9,7 @@ import static edu.wpi.first.units.Units.Seconds; import com.ctre.phoenix6.configs.TalonFXConfiguration; +import com.ctre.phoenix6.signals.InvertedValue; import edu.wpi.first.math.interpolation.InterpolatingDoubleTreeMap; import edu.wpi.first.units.Units; @@ -104,5 +105,9 @@ 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.Inverted = InvertedValue.CounterClockwise_Positive; + HOOD_PIVOT_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; + TURRET_CONFIGURATION.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; } }