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Added PID to the Flywheel #4

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Added PID to the Flywheel #4

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20 changes: 19 additions & 1 deletion src/main/java/frc/robot/constants/ConstRotors.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,10 @@
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;

import edu.wpi.first.units.measure.AngularVelocity;

import static edu.wpi.first.units.Units.RPM;

public class ConstRotors {
public static TalonFXConfiguration BALL_SHOOTER_CONFIG = new TalonFXConfiguration();

Expand All @@ -17,7 +21,21 @@ public class ConstRotors {
BALL_SHOOTER_CONFIG.CurrentLimits.SupplyCurrentLimit = 85; // TODO: tune current limits
BALL_SHOOTER_CONFIG.CurrentLimits.SupplyCurrentLowerLimit = 60; // TODO: tune current limits
BALL_SHOOTER_CONFIG.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;

BALL_SHOOTER_CONFIG.MotorOutput.NeutralMode = NeutralModeValue.Coast;
BALL_SHOOTER_CONFIG.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;

BALL_SHOOTER_CONFIG.Slot0.kS = 0;
BALL_SHOOTER_CONFIG.Slot0.kV = 0;
BALL_SHOOTER_CONFIG.Slot0.kS = 0;
BALL_SHOOTER_CONFIG.Slot0.kV = 0;
BALL_SHOOTER_CONFIG.Slot0.kA = 0;
BALL_SHOOTER_CONFIG.Slot0.kP = 0;

BALL_SHOOTER_CONFIG.MotionMagic.MotionMagicCruiseVelocity = 60;
BALL_SHOOTER_CONFIG.MotionMagic.MotionMagicAcceleration = 600;
BALL_SHOOTER_CONFIG.MotionMagic.MotionMagicJerk = 6000;
}

public static final double BALL_SHOOTER_SPEED = 0.2; // TODO: Replace with actual speed
public static final AngularVelocity BALL_SHOOTER_SPEED = RPM.of(0.2); // TODO: Replace with actual speed
}
4 changes: 3 additions & 1 deletion src/main/java/frc/robot/subsystems/Rotors.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,6 +4,7 @@

package frc.robot.subsystems;

import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
import com.ctre.phoenix6.hardware.TalonFX;

import edu.wpi.first.epilogue.Logged;
Expand All @@ -17,6 +18,7 @@ public class Rotors extends SubsystemBase {
/** Creates a new Rotors. */

TalonFX ballShooterMotor;
final MotionMagicVelocityVoltage flywheelVelocityRequest = new MotionMagicVelocityVoltage(0);

public Rotors() {
ballShooterMotor = new TalonFX(mapRotors.BALL_SHOOTER_CAN);
Expand All @@ -25,7 +27,7 @@ public Rotors() {
}

public void setBallShooterMotorSpeed(double speed) {
ballShooterMotor.set(speed);
ballShooterMotor.setControl(flywheelVelocityRequest.withVelocity(speed));
}

public double getBallShooterMotorVelocity() {
Expand Down