Replaced drive motor and shooter motors from CANSparkMax to CANSparkF…

…lex; added button bindings to all motors :3 Co-authored-by: hahafoot <[email protected]>
StuyPulse · Feb 15, 2024 · bc9e9cd · bc9e9cd
1 parent cb83a9a
commit bc9e9cd
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Showing 4 changed files with 70 additions and 13 deletions.
diff --git a/src/main/java/com/stuypulse/robot/RobotContainer.java b/src/main/java/com/stuypulse/robot/RobotContainer.java
@@ -72,8 +72,28 @@ private Command runMotorCommand(String name, DoubleConsumer set, Subsystem subsy
     }
 
     private void configureButtonBindings() {
-        driver.getTopButton()
+        driver.getLeftButton()
             .whileTrue(runMotorCommand("Shooter left voltage", shooter::setLeftVoltage, shooter));
+        driver.getBottomButton()
+            .whileTrue(runMotorCommand("Shooter right voltage", shooter::setRightVoltage, shooter));
+        driver.getTopButton()
+            .whileTrue(runMotorCommand("Amper lift voltage", amper::setLiftVoltage, amper));
+        driver.getRightButton()
+            .whileTrue(runMotorCommand("Amper voltage", amper::setAmperVoltage, amper));
+        driver.getRightBumper()
+            .whileTrue(runMotorCommand("Gandalf voltage", conveyer::setGandalfVoltage, conveyer));
+        driver.getRightTriggerButton()
+            .whileTrue(runMotorCommand("Conveyor shooter feeder voltage", conveyer::setShooterFeederVoltage, conveyer));
+        driver.getStartButton()
+            .whileTrue(runMotorCommand("Intake voltage", intake::setIntakeVoltage, intake));
+        driver.getDPadLeft()
+            .whileTrue(runMotorCommand("Swerve turn voltage", swerve::setTurnVoltage, swerve));
+        driver.getDPadDown()
+            .whileTrue(runMotorCommand("Swerve drive voltage", swerve::setDriveVoltage, swerve));
+        driver.getDPadUp()
+            .whileTrue(runMotorCommand("Climber left voltage", climber::setLeftVoltage, swerve));
+        driver.getDPadRight()
+            .whileTrue(runMotorCommand("Climber right voltage", climber::setRightVoltage, climber));
     }
 
 

diff --git a/src/main/java/com/stuypulse/robot/constants/Motors.java b/src/main/java/com/stuypulse/robot/constants/Motors.java
@@ -9,6 +9,7 @@
 import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
 import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
 import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkFlex;
 import static com.revrobotics.CANSparkMax.IdleMode;
 
 /*-
@@ -29,17 +30,17 @@ public interface Amper {
     }
 
     public interface Swerve {
-        public CANSparkMaxConfig DRIVE_CONFIG = new CANSparkMaxConfig(false, IdleMode.kBrake);
-        public CANSparkMaxConfig TURN_CONFIG = new CANSparkMaxConfig(false, IdleMode.kBrake);
+        CANSparkFlexConfig DRIVE_CONFIG = new CANSparkFlexConfig(false, IdleMode.kBrake);
+        CANSparkMaxConfig TURN_CONFIG = new CANSparkMaxConfig(false, IdleMode.kBrake);
     }
 
     public interface Intake {
         CANSparkMaxConfig MOTOR_CONFIG = new CANSparkMaxConfig(false, IdleMode.kBrake);
     }
 
     public interface Shooter {
-        CANSparkMaxConfig LEFT_SHOOTER = new CANSparkMaxConfig(false,IdleMode.kCoast);
-        CANSparkMaxConfig RIGHT_SHOOTER = new CANSparkMaxConfig(false,IdleMode.kCoast);      
+        CANSparkFlexConfig LEFT_SHOOTER = new CANSparkFlexConfig(false,IdleMode.kCoast);
+        CANSparkFlexConfig RIGHT_SHOOTER = new CANSparkFlexConfig(false,IdleMode.kCoast);      
     }
 
     public interface Conveyor {
@@ -155,5 +156,40 @@ public void configureAsFollower(CANSparkMax motor, CANSparkMax follows) {
             motor.follow(follows);
             motor.burnFlash();
          }
-     }
+
+    }
+
+    public static class CANSparkFlexConfig {
+        public final boolean INVERTED;
+        public final IdleMode IDLE_MODE;
+        public final int CURRENT_LIMIT_AMPS;
+        public final double OPEN_LOOP_RAMP_RATE;
+
+        public CANSparkFlexConfig(
+                boolean inverted,
+                IdleMode idleMode,
+                int currentLimitAmps,
+                double openLoopRampRate) {
+            this.INVERTED = inverted;
+            this.IDLE_MODE = idleMode;
+            this.CURRENT_LIMIT_AMPS = currentLimitAmps;
+            this.OPEN_LOOP_RAMP_RATE = openLoopRampRate;
+        }
+
+        public CANSparkFlexConfig(boolean inverted, IdleMode idleMode, int currentLimitAmps) {
+            this(inverted, idleMode, currentLimitAmps, 0.05);
+        }
+
+        public CANSparkFlexConfig(boolean inverted, IdleMode idleMode) {
+            this(inverted, idleMode, 80);
+        }
+
+        public void configure(CANSparkFlex motor) {
+            motor.setInverted(INVERTED);
+            motor.setIdleMode(IDLE_MODE);
+            motor.setSmartCurrentLimit(CURRENT_LIMIT_AMPS);
+            motor.setOpenLoopRampRate(OPEN_LOOP_RAMP_RATE);
+            motor.burnFlash();
+        }
+    }
 }
diff --git a/src/main/java/com/stuypulse/robot/subsystems/ShooterTest.java b/src/main/java/com/stuypulse/robot/subsystems/ShooterTest.java
@@ -5,19 +5,19 @@
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 
-import com.revrobotics.CANSparkMax;
+import com.revrobotics.CANSparkFlex;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 public class ShooterTest extends SubsystemBase{
-    private final CANSparkMax leftMotor;
-    private final CANSparkMax rightMotor;
+    private final CANSparkFlex leftMotor;
+    private final CANSparkFlex rightMotor;
 
     private final RelativeEncoder leftEncoder;
     private final RelativeEncoder rightEncoder;
     public ShooterTest() {
-        leftMotor = new CANSparkMax(Ports.Shooter.LEFT_MOTOR, MotorType.kBrushless);
-        rightMotor = new CANSparkMax(Ports.Shooter.RIGHT_MOTOR, MotorType.kBrushless);
+        leftMotor = new CANSparkFlex(Ports.Shooter.LEFT_MOTOR, MotorType.kBrushless);
+        rightMotor = new CANSparkFlex(Ports.Shooter.RIGHT_MOTOR, MotorType.kBrushless);
 
         leftEncoder = leftMotor.getEncoder();
         rightEncoder = rightMotor.getEncoder();

diff --git a/src/main/java/com/stuypulse/robot/subsystems/swervetests/module/SwerveModuleTest.java b/src/main/java/com/stuypulse/robot/subsystems/swervetests/module/SwerveModuleTest.java
@@ -1,22 +1,23 @@
 package com.stuypulse.robot.subsystems.swervetests.module;
 
 import com.ctre.phoenix6.hardware.CANcoder;
+import com.revrobotics.CANSparkFlex;
 import com.revrobotics.CANSparkMax;
 import com.revrobotics.RelativeEncoder;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
 
 public class SwerveModuleTest {
     private final CANSparkMax turnMotor;
-    private final CANSparkMax driveMotor;
+    private final CANSparkFlex driveMotor;
     private final String id;
 
     private final RelativeEncoder driveEncoder;
     private final CANcoder turnEncoder;
 
     public SwerveModuleTest(String id, int driveID, int turnID, int encoderID) {
         turnMotor = new CANSparkMax(turnID, MotorType.kBrushless);
-        driveMotor = new CANSparkMax(driveID, MotorType.kBrushless);
+        driveMotor = new CANSparkFlex(driveID, MotorType.kBrushless);
 
         driveEncoder = driveMotor.getEncoder();
         turnEncoder = new CANcoder(encoderID);