changed neo to talon (#204)

* changed neo to talon * progress monday 14th * things are working for some reason (auto untested, intake needs to be fixed mechanically)
team401 · Oct 17, 2024 · 857687c · 857687c
1 parent 3990770
commit 857687c
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Showing 8 changed files with 53 additions and 58 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -52,9 +52,9 @@ public static final class FeatureFlags {
         public static final boolean runVision = true;
         public static final boolean runLocalizer = true;
 
-        public static final boolean runIntake = false;
-        public static final boolean runScoring = false;
-        public static final boolean runEndgame = false;
+        public static final boolean runIntake = true;
+        public static final boolean runScoring = true;
+        public static final boolean runEndgame = true;
         public static final boolean runDrive = true;
 
         public static final boolean enableLEDS = true;
@@ -257,7 +257,7 @@ private static AprilTagFieldLayout initLayout(String name) {
 
     public static final class IntakeConstants {
         public static final int leftIntakeMotorID = 9;
-        public static final int rightIntakeMotorID = 10;
+        // public static final int rightIntakeMotorID = 10;
         public static final int indexTwoMotorID = 14;
 
         public static final double intakePower = 12.0;

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -38,8 +38,8 @@
 import frc.robot.subsystems.endgame.EndgameSubsystem;
 import frc.robot.subsystems.endgame.EndgameSubsystem.EndgameAction;
 import frc.robot.subsystems.intake.IntakeIO;
+import frc.robot.subsystems.intake.IntakeIOFalcon;
 import frc.robot.subsystems.intake.IntakeIOSim;
-import frc.robot.subsystems.intake.IntakeIOSparkMax;
 import frc.robot.subsystems.intake.IntakeSubsystem;
 import frc.robot.subsystems.intake.IntakeSubsystem.IntakeAction;
 import frc.robot.subsystems.localization.CameraContainerReal;
@@ -150,7 +150,7 @@ public void configureSubsystems() {
                 }
 
                 if (FeatureFlags.runIntake) {
-                    intakeSubsystem = new IntakeSubsystem(new IntakeIOSparkMax());
+                    intakeSubsystem = new IntakeSubsystem(new IntakeIOFalcon());
                 }
 
                 if (FeatureFlags.runVision) {

diff --git a/...t/subsystems/intake/IntakeIOSparkMax.java → ...bot/subsystems/intake/IntakeIOFalcon.java b/...t/subsystems/intake/IntakeIOSparkMax.java → ...bot/subsystems/intake/IntakeIOFalcon.java
@@ -6,32 +6,30 @@
 import com.ctre.phoenix6.controls.VoltageOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
-import com.revrobotics.CANSparkLowLevel.MotorType;
-import com.revrobotics.CANSparkMax;
 import edu.wpi.first.wpilibj.DigitalInput;
 import frc.robot.Constants.IntakeConstants;
 import frc.robot.Constants.SensorConstants;
 
-public class IntakeIOSparkMax implements IntakeIO {
+public class IntakeIOFalcon implements IntakeIO {
 
-    private CANSparkMax leftIntake =
-            new CANSparkMax(IntakeConstants.leftIntakeMotorID, MotorType.kBrushless);
-    private CANSparkMax rightIntake =
-            new CANSparkMax(IntakeConstants.rightIntakeMotorID, MotorType.kBrushless);
+    private TalonFX leftIntake = new TalonFX(IntakeConstants.leftIntakeMotorID);
 
     private TalonFX belt = new TalonFX(IntakeConstants.indexTwoMotorID);
 
     DigitalInput bannerSensor = new DigitalInput(SensorConstants.uptakeSensorPort);
 
-    public IntakeIOSparkMax() {
-        leftIntake.setSmartCurrentLimit(50);
-        rightIntake.setSmartCurrentLimit(50);
-
+    public IntakeIOFalcon() {
         leftIntake.setInverted(true);
-        rightIntake.setInverted(true);
 
         belt.setInverted(true);
 
+        TalonFXConfigurator leftConfig = leftIntake.getConfigurator();
+        leftConfig.apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Coast));
+        leftConfig.apply(
+                new CurrentLimitsConfigs()
+                        .withStatorCurrentLimit(120)
+                        .withStatorCurrentLimitEnable(true));
+
         TalonFXConfigurator beltConfig = belt.getConfigurator();
         beltConfig.apply(new MotorOutputConfigs().withNeutralMode(NeutralModeValue.Brake));
         beltConfig.apply(
@@ -42,11 +40,8 @@ public IntakeIOSparkMax() {
 
     @Override
     public void updateInputs(IntakeIOInputs inputs) {
-        inputs.leftIntakeVoltage = leftIntake.getAppliedOutput() * 12;
-        inputs.leftIntakeStatorCurrent = leftIntake.getOutputCurrent();
-
-        inputs.rightIntakeVoltage = rightIntake.getAppliedOutput() * 12;
-        inputs.rightIntakeStatorCurrent = rightIntake.getOutputCurrent();
+        inputs.leftIntakeVoltage = leftIntake.getMotorVoltage().getValueAsDouble();
+        inputs.leftIntakeStatorCurrent = leftIntake.getStatorCurrent().getValueAsDouble();
 
         inputs.beltVoltage = belt.getMotorVoltage().getValueAsDouble();
         inputs.beltStatorCurrent = belt.getStatorCurrent().getValueAsDouble();
@@ -57,8 +52,7 @@ public void updateInputs(IntakeIOInputs inputs) {
 
     @Override
     public void setIntakeVoltage(double volts) {
-        leftIntake.set(volts / 12);
-        rightIntake.set(volts / 12);
+        leftIntake.setControl(new VoltageOut(volts));
     }
 
     @Override

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -45,6 +45,7 @@ public void periodic() {
 
         Logger.recordOutput("intake/running", inputs.leftIntakeVoltage != 0.0);
         Logger.recordOutput("intake/belting", inputs.beltVoltage != 0.0);
+        Logger.recordOutput("intake/scorerWantsNote", scorerWantsNote.getAsBoolean());
 
         Logger.recordOutput("intake/state", state.toString());
     }

diff --git a/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java b/src/main/java/frc/robot/subsystems/scoring/ScoringSubsystem.java
@@ -326,7 +326,7 @@ private void shoot() {
 
         double shootRPM = shooterInterpolated.getValue(distancetoGoal);
         shooterIo.setShooterVelocityRPM(shootRPM);
-        double aimAngleRad = aimerInterpolated.getValue(distancetoGoal);
+        double aimAngleRad = aimerInterpolated.getValue(distancetoGoal) - 0.015;
         aimerIo.setAimAngleRad(aimAngleRad, false);
 
         shooterIo.setKickerVolts(10);

diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json
@@ -1,7 +1,7 @@
 {
     "fileName": "AdvantageKit.json",
     "name": "AdvantageKit",
-    "version": "3.2.0",
+    "version": "3.2.1",
     "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003",
     "frcYear": "2024",
     "mavenUrls": [],
@@ -10,24 +10,24 @@
         {
             "groupId": "org.littletonrobotics.akit.junction",
             "artifactId": "wpilib-shim",
-            "version": "3.2.0"
+            "version": "3.2.1"
         },
         {
             "groupId": "org.littletonrobotics.akit.junction",
             "artifactId": "junction-core",
-            "version": "3.2.0"
+            "version": "3.2.1"
         },
         {
             "groupId": "org.littletonrobotics.akit.conduit",
             "artifactId": "conduit-api",
-            "version": "3.2.0"
+            "version": "3.2.1"
         }
     ],
     "jniDependencies": [
         {
             "groupId": "org.littletonrobotics.akit.conduit",
             "artifactId": "conduit-wpilibio",
-            "version": "3.2.0",
+            "version": "3.2.1",
             "skipInvalidPlatforms": false,
             "isJar": false,
             "validPlatforms": [

diff --git a/vendordeps/PathplannerLib.json b/vendordeps/PathplannerLib.json
@@ -1,7 +1,7 @@
 {
     "fileName": "PathplannerLib.json",
     "name": "PathplannerLib",
-    "version": "2024.2.7",
+    "version": "2024.2.8",
     "uuid": "1b42324f-17c6-4875-8e77-1c312bc8c786",
     "frcYear": "2024",
     "mavenUrls": [
@@ -12,15 +12,15 @@
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-java",
-            "version": "2024.2.7"
+            "version": "2024.2.8"
         }
     ],
     "jniDependencies": [],
     "cppDependencies": [
         {
             "groupId": "com.pathplanner.lib",
             "artifactId": "PathplannerLib-cpp",
-            "version": "2024.2.7",
+            "version": "2024.2.8",
             "libName": "PathplannerLib",
             "headerClassifier": "headers",
             "sharedLibrary": false,