Subsystem/shooter flywheel #10
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spellingcat
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spellingcat
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pretty close. i'm gonna have you coordinate w jason tomorrow hopefully if y'all can both make it to start writing the code that will control both the hood + rollers at the same time
| HoodIOInputsAutoLogged hoodinputs = new HoodIOInputsAutoLogged(); | ||
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| RollerIOReal rollerIO; | ||
| RollerIOInputsAutoLogged rollerinputs = new RollerIOInputsAutoLogged(); |
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| RollerIOInputsAutoLogged rollerinputs = new RollerIOInputsAutoLogged(); | |
| RollerIOInputsAutoLogged rollerInputs = new RollerIOInputsAutoLogged(); |
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i would perhaps rename these variables to flywheelIO and flywheelInputs (to be clear, it's still of type RollerIOReal- flywheel would just be in the name of the variables)
…anderRobotics/Rebuilt into subsystem/shooter-flywheel
…anderRobotics/Rebuilt into subsystem/shooter-flywheel
spellingcat
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spellingcat
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couple things but i'll change them. nice job
| flywheelFollower.setControl( | ||
| new Follower( | ||
| flywheelLeader.getDeviceID(), | ||
| MotorAlignmentValue.Opposed) // i didnt know what to put here |
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they're aligned but i'll change that for you
| flywheelVelocity = flywheelLeader.getVelocity(); | ||
| flywheelVoltage = flywheelLeader.getMotorVoltage(); | ||
| flywheelStatorCurrent = flywheelLeader.getStatorCurrent(); | ||
| flywheelSupplyCurrent = flywheelLeader.getSupplyCurrent(); | ||
| flywheelTemp = flywheelLeader.getDeviceTemp(); | ||
| flywheelPositionRotations = flywheelLeader.getPosition(); |
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let's also log the stuff for the follower - generally it shouldn't be different but if it is that's a problem and we'd like to know
| flywheelFollower.optimizeBusUtilization(); | ||
| } | ||
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| // did not know how to do anything here, |
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that's ok it's basically just settings for the motor
| flywheelLeader.setControl(motionMagicVelocityVoltage.withVelocity(flywheelVelocity)); | ||
| } | ||
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| public void stop() { // thought i should add a stop command, dont think i had to though |
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i think we do because that's how the superstructure's organized
| TalonFXSimState leaderFxSimState; | ||
| DCMotorSim physicsSim = | ||
| new DCMotorSim( | ||
| LinearSystemId.createDCMotorSystem(DCMotor.getKrakenX60Foc(2), 0, 0), |
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these shouldn't be 0's but i'll change it
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| // follower follows leader | ||
| flywheelFollower.setControl( | ||
| new Follower(flywheelLeader.getDeviceID(), MotorAlignmentValue.Aligned)); |
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The follower isn't aligned.
| flywheelFollowerSupplyCurrent = flywheelFollower.getSupplyCurrent(); | ||
| flywheelFollowerTemp = flywheelFollower.getDeviceTemp(); | ||
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| BaseStatusSignal.setUpdateFrequencyForAll( |
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It probably works to re-access these but probably better to just pass in the variables
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| config.MotorOutput.NeutralMode = NeutralModeValue.Coast; | ||
| config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; | ||
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No gear ratio for flywheel but fixed in superstructure/sysid i think
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