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12 changes: 12 additions & 0 deletions
12
src/main/kotlin/frc/team449/robot2024/constants/subsystem/FeederConstants.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,12 @@ | ||
| package frc.team449.robot2024.constants.subsystem | ||
|
|
||
| object FeederConstants { | ||
| const val MOTOR_ID = 7 | ||
| const val FOLLOLWER_ID = 55 | ||
| const val FOLLOWER_INV = false | ||
| const val INVERTED = true | ||
| const val CURRENT_LIM = 15 | ||
|
|
||
| const val INTAKE_VOLTAGE = 8.0 | ||
| const val REVERSE_VOLTAGE = -5.0 | ||
| } |
57 changes: 57 additions & 0 deletions
57
src/main/kotlin/frc/team449/robot2024/subsystems/Feeder.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,57 @@ | ||
| package frc.team449.robot2024.subsystems | ||
|
|
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| import com.revrobotics.CANSparkMax | ||
| import edu.wpi.first.util.sendable.SendableBuilder | ||
| import edu.wpi.first.wpilibj2.command.Command | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase | ||
| import frc.team449.robot2024.constants.subsystem.FeederConstants | ||
| import frc.team449.system.encoder.NEOEncoder | ||
| import frc.team449.system.motor.WrappedMotor | ||
| import frc.team449.system.motor.createSparkMax | ||
|
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| class Feeder( | ||
| val motor: WrappedMotor | ||
| ) : SubsystemBase() { | ||
|
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| fun intake(): Command { | ||
| return this.runOnce { | ||
| motor.setVoltage(FeederConstants.INTAKE_VOLTAGE) | ||
| motor.stopMotor(); | ||
| } | ||
| } | ||
|
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| fun outtake(): Command { | ||
| return this.runOnce { | ||
| motor.setVoltage(FeederConstants.REVERSE_VOLTAGE) | ||
| } | ||
| } | ||
|
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| fun stop(): Command { | ||
| return this.runOnce { | ||
| motor.stopMotor() | ||
| } | ||
| } | ||
|
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| override fun initSendable(builder: SendableBuilder) { | ||
| builder.publishConstString("1.0", "Motor Voltages") | ||
| builder.addDoubleProperty("1.1 Last Voltage", { motor.lastVoltage }, null) | ||
| } | ||
|
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| companion object { | ||
| fun createProtoUndertaker(): Feeder { | ||
| val motor = createSparkMax( | ||
| "ProtoUndertaker Motor", | ||
| FeederConstants.MOTOR_ID, | ||
| NEOEncoder.creator( | ||
| 1.0, | ||
| 1.0 | ||
| ), | ||
| inverted = FeederConstants.INVERTED, | ||
| currentLimit = FeederConstants.CURRENT_LIM, | ||
| slaveSparks = mapOf(Pair(FeederConstants.FOLLOLWER_ID, FeederConstants.FOLLOWER_INV)) | ||
| ) | ||
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| return Feeder(motor) | ||
| } | ||
| } | ||
| } |