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feat: magic carpet 27 #465

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Merged
EJainDev merged 1 commit into from
Oct 10, 2026
Merged

feat: magic carpet 27 #465

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18 changes: 11 additions & 7 deletions src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpet.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,9 +3,10 @@
import org.wpilib.command3.Command;
import frc.robot.RobotState;
import org.littletonrobotics.junction.Logger;
import org.wpilib.command3.Mechanism;

public class MagicCarpet implements Mechanism {
import frc.lib.SubsystemBase;

public class MagicCarpet extends SubsystemBase {
private final MagicCarpetIO io;
private final MagicCarpetIOInputsAutoLogged inputs = new MagicCarpetIOInputsAutoLogged();
public boolean manualRun;
Expand All @@ -26,19 +27,22 @@ public MagicCarpet(MagicCarpetIO io) {
* @return A command to run the magic carpet at a constant speed
*/
public Command run() {
return setManualControl(true)
.andThen(Commands.run(() -> io.setSpeed(MagicCarpetConstants.BELT_SPEED), this))
.finallyDo(() -> setManualControl(false).schedule())
.withName("start");
return this.run(
coro -> {
io.setSpeed(MagicCarpetConstants.BELT_SPEED);
coro.fork(setManualControl(false));
}
).named("MagicCarpet Start");
}


/**
* Control whether to run magic carpet through commands or periodic
*
* @param manual Call run manually instead of through periodic
*/
public Command setManualControl(boolean manual) {
return Commands.runOnce(() -> this.manualRun = manual, this);
return this.run(_ -> this.manualRun = manual).named("MagicCarpet SetManualControl");
}

@Override
Expand Down
14 changes: 7 additions & 7 deletions src/main/java/frc/robot/subsystems/magicCarpet/MagicCarpetSparkMax.java
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Original file line number Diff line number Diff line change
Expand Up @@ -10,6 +10,7 @@
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkMaxConfig;
import org.wpilib.hardware.bus.CANPort;
import org.wpilib.math.util.MathUtil;
import frc.robot.Schematic;

Expand All @@ -20,7 +21,7 @@ public class MagicCarpetSparkMax implements MagicCarpetIO {

public MagicCarpetSparkMax() {

motor = new SparkMax(Schematic.magicCarpetCanId, MotorType.kBrushless);
motor = new SparkMax(CANPort.CAN_D0, Schematic.magicCarpetCanId, MotorType.kBrushless);

SparkMaxConfig config = new SparkMaxConfig();
config
Expand All @@ -37,22 +38,21 @@ public MagicCarpetSparkMax() {
@Override
public void updateInputs(MagicCarpetIOInputs inputs) {
// Called every 20 ms by subsystem periodic
inputs.appliedVolts = motor.getAppliedOutput() * motor.getBusVoltage();
inputs.currentAmps = motor.getOutputCurrent();
inputs.motorVelocity = encoder.getVelocity();
inputs.appliedVolts = motor.getAppliedOutput().get() * motor.getBusVoltage().get();
inputs.currentAmps = motor.getOutputCurrent().get();
inputs.motorVelocity = encoder.getVelocity().get();
}

@Override
public void setSpeed(double speed) {

motor.set(MathUtil.clamp(speed, 0.0, 1.0)); // so the is between 0 and 1, 1==100%
motor.setVoltage(MagicCarpetConstants.CURRENT_LIMIT * Math.clamp(speed, 0.0, 1.0));
}

/**
* implements the stop method from interface, and sets the speed to 0, meaning it immidately stops
*/
@Override
public void stop() {
motor.set(0.0);
motor.setVoltage(0);
}
}
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