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secondary intake motor #72

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Nov 4, 2024
Merged

secondary intake motor #72

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ba5a97f
Second intake motor
realjoshuau Nov 3, 2024
0b3ce38
spotless
realjoshuau Nov 3, 2024
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1 change: 1 addition & 0 deletions src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
public final class IntakeConstants {
/* CAN */
public static final int kIntakeMotorID = 33;
public static final int kSecondaryIntakeMotorID = 999;
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This needs to be changed


public static final double kPassthroughIntakeVoltage = -8;
public static final double kIntakeIntakeVoltage = 12;
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10 changes: 10 additions & 0 deletions src/main/java/frc/robot/subsystems/intake/IntakeIOTalonFX.java
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Expand Up @@ -9,6 +9,7 @@

import com.ctre.phoenix6.BaseStatusSignal;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
import com.ctre.phoenix6.controls.NeutralOut;
import com.ctre.phoenix6.controls.VelocityVoltage;
Expand All @@ -25,6 +26,9 @@ public class IntakeIOTalonFX implements IntakeIO {
new MotionMagicVelocityVoltage(0).withSlot(0);
private final VoltageOut intakeVoltageReq = new VoltageOut(0);

private final TalonFX secondaryIntakeMotor = new TalonFX(IntakeConstants.kSecondaryIntakeMotorID);
final Follower secondaryIntakeFollowReq = new Follower(intakeMotor.getDeviceID(), false);

private final StatusSignal<Double> intakeMotorVoltage = intakeMotor.getMotorVoltage();
private final StatusSignal<Double> intakeMotorVelocity = intakeMotor.getVelocity();
private final StatusSignal<Double> intakeMotorStatorCurrent = intakeMotor.getStatorCurrent();
Expand Down Expand Up @@ -56,6 +60,11 @@ public IntakeIOTalonFX() {
PhoenixUtil.checkErrorAndRetry(() -> intakeMotor.getConfigurator().refresh(motorConfig));
TalonUtil.applyAndCheckConfiguration(intakeMotor, motorConfig);

var secondaryMotorConfig = IntakeConstants.intakeMotorConfig; // Same as intake motor.
PhoenixUtil.checkErrorAndRetry(
() -> secondaryIntakeMotor.getConfigurator().refresh(secondaryMotorConfig));
TalonUtil.applyAndCheckConfiguration(secondaryIntakeMotor, secondaryMotorConfig);

var passthroughConfig = IntakeConstants.passthroughMotorConfig;
PhoenixUtil.checkErrorAndRetry(
() -> passthroughMotor.getConfigurator().refresh(passthroughConfig));
Expand All @@ -77,6 +86,7 @@ public IntakeIOTalonFX() {
passthroughMotorReferenceSlope);
intakeMotor.optimizeBusUtilization();
passthroughMotor.optimizeBusUtilization();
secondaryIntakeMotor.setControl(secondaryIntakeFollowReq);
}

@Override
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