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Merge pull request #13 from Team6593/UnitConverterAdded
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Arm and Reeler Subsystem
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@devmanso
devmanso authored Mar 7, 2023
2 parents 7d609a3 + 4213744 commit 4b702ee
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Showing 20 changed files with 974 additions and 137 deletions.
134 changes: 134 additions & 0 deletions src/main/deploy/pathplanner/AutonPath.path
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74 changes: 74 additions & 0 deletions src/main/deploy/pathplanner/New New Path.path
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36 changes: 31 additions & 5 deletions src/main/java/frc/robot/Constants.java
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Expand Up @@ -30,6 +30,9 @@ public static final class LimitSwitchesPorts{
public final int ElevatorTopLimitSwitchPort = 0;
public final int ElevatorLowLimitSwitchPort = 1;

// // Arm limit switches (WIP)
// public final static int ArmLimitSwitchPortOne = 0;
// public final static int ArmLimitSwitchPortTwo = 0;
}

public static final class InputMap {
Expand All @@ -50,26 +53,49 @@ public static final class xBox{

public static final class Motors {
// put motor ID's here
// how to define consts: subsystem + master or slave + orientation (left, right, up, down) + "ID"
// how to define consts: subsystem + master or follower + orientation (left, right, up, down) + "ID"
// change these nums later
public final int MasterRight = 1;
public final int FollowerRight = 2;
public final int MasterLeft = 3;
public final int FollowerLeft = 4;
public final double falconUnitsPerRevolution = 2048;
public final double FalconUnitsPerRevolution = 2048;

public final int ElevatorMotorID = 6;
// Reeler motors
public final int TopMotorID = 10;
public final int BottomMotorID = 11;

// Elevator motor
public final int ElevatorMotorID = 0;

//units per revolution of talon Motors
public final int TalonFX_UnitsPerRev = 2048;
}

public static final class SpeedsForMotors{
public final double elevator_setSpeed = 0.2;
public final double Elevator_setSpeed = 0.2;
}

public static final class DoubleSolenoidChannels{
// DriveTrain
public static final int ForwardChannelDt = 4;
public static final int ReverseChannelDt = 5;

// Arm
public final int ArmCloseChannel = 0;
public final int ArmOpenChannel = 0;
public final int ArmExtendChannel = 0;
public final int armRetractChannel = 0;

}
public static final class Autonomous {
public final double encoderDistanceToChargeStation = 1223.760000; //couple feet or so, change later
public final double balancingSpeed = .15; // 15 percent speed
public final double rollThreshholdDegrees = 1;
}

public static final class PIDValues{
public final double KPARM = .01;
}

}
}
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