From 788f7b5e23badcd4086b8d94741d873224309816 Mon Sep 17 00:00:00 2001 From: aaditsangvikar Date: Tue, 4 Mar 2025 22:40:57 -0700 Subject: [PATCH 1/5] adding climber motor config, fixing robot container --- .../java/org/blackknights/RobotContainer.java | 5 ----- .../blackknights/subsystems/ClimberSubsystem.java | 15 +++++++++++++++ 2 files changed, 15 insertions(+), 5 deletions(-) diff --git a/src/main/java/org/blackknights/RobotContainer.java b/src/main/java/org/blackknights/RobotContainer.java index bd0fb54..b96c002 100644 --- a/src/main/java/org/blackknights/RobotContainer.java +++ b/src/main/java/org/blackknights/RobotContainer.java @@ -108,11 +108,6 @@ private void configureBindings() { climberSubsystem.setDefaultCommand( new ClimberCommand(climberSubsystem, secondaryController)); - // secondaryController.leftBumper.onTrue(new InstantCommand(() -> - // coralQueue.stepBackwards())); - // secondaryController.rightBumper.onTrue(new InstantCommand(() -> - // coralQueue.stepForwards())); - secondaryController.aButton.whileTrue( new ElevatorArmCommand( elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L1)); diff --git a/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java b/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java index f9a7a92..437e8e7 100644 --- a/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java +++ b/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java @@ -2,7 +2,10 @@ package org.blackknights.subsystems; import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkFlex; +import com.revrobotics.spark.config.SparkBaseConfig; +import com.revrobotics.spark.config.SparkFlexConfig; import edu.wpi.first.wpilibj2.command.SubsystemBase; /** Subsystem to controller the climber */ @@ -10,6 +13,18 @@ public class ClimberSubsystem extends SubsystemBase { public SparkFlex climberMotor = new SparkFlex(15, SparkFlex.MotorType.kBrushless); public TalonSRX lockMotor = new TalonSRX(16); + public SparkFlexConfig climberMotorConfig = new SparkFlexConfig(); + + public ClimberSubsystem() { + climberMotorConfig.idleMode(SparkBaseConfig.IdleMode.kBrake); + climberMotorConfig.smartCurrentLimit(40, 40); + + climberMotor.configure( + climberMotorConfig, + SparkBase.ResetMode.kResetSafeParameters, + SparkBase.PersistMode.kPersistParameters); + } + /** * Set the speed of the climber motor * From d64a483109491a8afe208ede0c4b525e7a10949d Mon Sep 17 00:00:00 2001 From: aaditsangvikar Date: Tue, 4 Mar 2025 22:41:40 -0700 Subject: [PATCH 2/5] linting --- src/main/java/org/blackknights/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/blackknights/RobotContainer.java b/src/main/java/org/blackknights/RobotContainer.java index b96c002..ac5c10e 100644 --- a/src/main/java/org/blackknights/RobotContainer.java +++ b/src/main/java/org/blackknights/RobotContainer.java @@ -126,7 +126,7 @@ private void configureBindings() { secondaryController.leftBumper.onTrue(new InstantCommand(() -> coralQueue.stepForwards())); - secondaryController.rightBumper.whileTrue( + secondaryController.rightBumper.onTrue( new InstantCommand(() -> coralQueue.stepBackwards())); // secondaryController.rightTrigger.whileTrue( From 27d73af579936b5b64635183adaf1f20cf935b32 Mon Sep 17 00:00:00 2001 From: aaditsangvikar Date: Wed, 5 Mar 2025 22:07:55 -0600 Subject: [PATCH 3/5] Revert "linting" This reverts commit d64a483109491a8afe208ede0c4b525e7a10949d. --- src/main/java/org/blackknights/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/blackknights/RobotContainer.java b/src/main/java/org/blackknights/RobotContainer.java index ac5c10e..b96c002 100644 --- a/src/main/java/org/blackknights/RobotContainer.java +++ b/src/main/java/org/blackknights/RobotContainer.java @@ -126,7 +126,7 @@ private void configureBindings() { secondaryController.leftBumper.onTrue(new InstantCommand(() -> coralQueue.stepForwards())); - secondaryController.rightBumper.onTrue( + secondaryController.rightBumper.whileTrue( new InstantCommand(() -> coralQueue.stepBackwards())); // secondaryController.rightTrigger.whileTrue( From 04badd32b40f1bfb03ed2b024eb96c895b8fd55d Mon Sep 17 00:00:00 2001 From: aaditsangvikar Date: Wed, 5 Mar 2025 22:09:23 -0600 Subject: [PATCH 4/5] Revert "Revert "linting"" This reverts commit 27d73af579936b5b64635183adaf1f20cf935b32. --- src/main/java/org/blackknights/RobotContainer.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/blackknights/RobotContainer.java b/src/main/java/org/blackknights/RobotContainer.java index b96c002..ac5c10e 100644 --- a/src/main/java/org/blackknights/RobotContainer.java +++ b/src/main/java/org/blackknights/RobotContainer.java @@ -126,7 +126,7 @@ private void configureBindings() { secondaryController.leftBumper.onTrue(new InstantCommand(() -> coralQueue.stepForwards())); - secondaryController.rightBumper.whileTrue( + secondaryController.rightBumper.onTrue( new InstantCommand(() -> coralQueue.stepBackwards())); // secondaryController.rightTrigger.whileTrue( From b441117ecadce8e12924e28d7639598219ffa68e Mon Sep 17 00:00:00 2001 From: aaditsangvikar Date: Wed, 5 Mar 2025 22:10:21 -0600 Subject: [PATCH 5/5] Revert "adding climber motor config, fixing robot container" This reverts commit 788f7b5e23badcd4086b8d94741d873224309816. --- .../java/org/blackknights/RobotContainer.java | 5 +++++ .../blackknights/subsystems/ClimberSubsystem.java | 15 --------------- 2 files changed, 5 insertions(+), 15 deletions(-) diff --git a/src/main/java/org/blackknights/RobotContainer.java b/src/main/java/org/blackknights/RobotContainer.java index ac5c10e..65b089b 100644 --- a/src/main/java/org/blackknights/RobotContainer.java +++ b/src/main/java/org/blackknights/RobotContainer.java @@ -108,6 +108,11 @@ private void configureBindings() { climberSubsystem.setDefaultCommand( new ClimberCommand(climberSubsystem, secondaryController)); + // secondaryController.leftBumper.onTrue(new InstantCommand(() -> + // coralQueue.stepBackwards())); + // secondaryController.rightBumper.onTrue(new InstantCommand(() -> + // coralQueue.stepForwards())); + secondaryController.aButton.whileTrue( new ElevatorArmCommand( elevatorSubsystem, armSubsystem, () -> ScoringConstants.ScoringHeights.L1)); diff --git a/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java b/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java index 437e8e7..f9a7a92 100644 --- a/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java +++ b/src/main/java/org/blackknights/subsystems/ClimberSubsystem.java @@ -2,10 +2,7 @@ package org.blackknights.subsystems; import com.ctre.phoenix.motorcontrol.can.TalonSRX; -import com.revrobotics.spark.SparkBase; import com.revrobotics.spark.SparkFlex; -import com.revrobotics.spark.config.SparkBaseConfig; -import com.revrobotics.spark.config.SparkFlexConfig; import edu.wpi.first.wpilibj2.command.SubsystemBase; /** Subsystem to controller the climber */ @@ -13,18 +10,6 @@ public class ClimberSubsystem extends SubsystemBase { public SparkFlex climberMotor = new SparkFlex(15, SparkFlex.MotorType.kBrushless); public TalonSRX lockMotor = new TalonSRX(16); - public SparkFlexConfig climberMotorConfig = new SparkFlexConfig(); - - public ClimberSubsystem() { - climberMotorConfig.idleMode(SparkBaseConfig.IdleMode.kBrake); - climberMotorConfig.smartCurrentLimit(40, 40); - - climberMotor.configure( - climberMotorConfig, - SparkBase.ResetMode.kResetSafeParameters, - SparkBase.PersistMode.kPersistParameters); - } - /** * Set the speed of the climber motor *