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Hopper and Spindexer Subsystems
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Lines changed: 194 additions & 3 deletions

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‎.idea/compiler.xml‎

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‎.idea/gradle.xml‎

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‎.idea/misc.xml‎

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‎src/main/java/frc/robot/config/CANMappings.java‎

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package frc.robot.config;
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public class CANMappings {}
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public class CANMappings {
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public static final int SPINDEXER_MOTOR_ID = 0;
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public static final int LEFT_HOPPER_MOTOR_ID = 0;
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public static final int RIGHT_HOPPER_MOTOR_ID = 0;
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}

‎src/main/java/frc/robot/config/HopperConfig.java‎

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package frc.robot.config;
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public class HopperConfig {
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public static final double LEFT_HOPPER_SUPPLY_CURRENT_LIMIT = 70;
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public static final double LEFT_HOPPER_STATOR_CURRENT_LIMIT = 80;
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public static final double LEFT_HOPPER_GEAR_RATIO = 0;
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public static final double RIGHT_HOPPER_SUPPLY_CURRENT_LIMIT = 70;
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public static final double RIGHT_HOPPER_STATOR_CURRENT_LIMIT = 80;
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public static final double RIGHT_HOPPER_GEAR_RATIO = 0;
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public static final double LEFT_HOPPER_MAX_CRUISE_VELOCITY = 3000;
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public static final double LEFT_HOPPER_TARGET_ACCELERATION = 500;
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public static final double LEFT_HOPPER_P = 0;
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public static final double LEFT_HOPPER_I = 0;
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public static final double LEFT_HOPPER_D = 0;
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public static final double RIGHT_HOPPER_MAX_CRUISE_VELOCITY = 3000;
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public static final double RIGHT_HOPPER_TARGET_ACCELERATION = 500;
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public static final double RIGHT_HOPPER_P = 0;
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public static final double RIGHT_HOPPER_I = 0;
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public static final double RIGHT_HOPPER_D = 0;
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public static final double HOPPER_TOLERANCE = 0.005;
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}

‎src/main/java/frc/robot/config/SpindexerConfig.java‎

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package frc.robot.config;
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public class SpindexerConfig {
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public static final double SPINDEXER_SUPPLY_CURRENT_LIMIT = 70;
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public static final double SPINDEXER_STATOR_CURRENT_LIMIT = 80;
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public static final double SPINDEXER_GEAR_RATIO = 0;
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}

‎src/main/java/frc/robot/subsystems/Hopper.java‎

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package frc.robot.subsystems;
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import com.ctre.phoenix6.configs.TalonFXConfiguration;
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import com.ctre.phoenix6.controls.DutyCycleOut;
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import com.ctre.phoenix6.controls.MotionMagicVoltage;
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import com.ctre.phoenix6.hardware.TalonFX;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.config.CANMappings;
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import frc.robot.config.HopperConfig;
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public class Hopper extends SubsystemBase {
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private TalonFX leftHopper;
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private TalonFX rightHopper;
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public Hopper() {
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leftHopper = new TalonFX(CANMappings.LEFT_HOPPER_MOTOR_ID);
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rightHopper = new TalonFX(CANMappings.RIGHT_HOPPER_MOTOR_ID);
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TalonFXConfiguration leftHopperConfig = new TalonFXConfiguration();
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TalonFXConfiguration rightHopperConfig = new TalonFXConfiguration();
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leftHopperConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
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leftHopperConfig.CurrentLimits.StatorCurrentLimitEnable = true;
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leftHopperConfig.CurrentLimits.StatorCurrentLimit =
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HopperConfig.LEFT_HOPPER_STATOR_CURRENT_LIMIT;
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leftHopperConfig.CurrentLimits.SupplyCurrentLimit =
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HopperConfig.LEFT_HOPPER_SUPPLY_CURRENT_LIMIT;
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;
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rightHopperConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
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rightHopperConfig.CurrentLimits.StatorCurrentLimitEnable = true;
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rightHopperConfig.CurrentLimits.StatorCurrentLimit =
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HopperConfig.RIGHT_HOPPER_STATOR_CURRENT_LIMIT;
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;
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rightHopperConfig.CurrentLimits.SupplyCurrentLimit =
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HopperConfig.RIGHT_HOPPER_SUPPLY_CURRENT_LIMIT;
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;
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leftHopperConfig.MotionMagic.MotionMagicCruiseVelocity =
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HopperConfig.LEFT_HOPPER_MAX_CRUISE_VELOCITY;
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rightHopperConfig.MotionMagic.MotionMagicCruiseVelocity =
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HopperConfig.RIGHT_HOPPER_MAX_CRUISE_VELOCITY;
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leftHopperConfig.MotionMagic.MotionMagicAcceleration =
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HopperConfig.LEFT_HOPPER_TARGET_ACCELERATION;
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rightHopperConfig.MotionMagic.MotionMagicAcceleration =
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HopperConfig.RIGHT_HOPPER_TARGET_ACCELERATION;
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leftHopperConfig.Slot0.kP = HopperConfig.LEFT_HOPPER_P;
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leftHopperConfig.Slot0.kI = HopperConfig.LEFT_HOPPER_I;
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leftHopperConfig.Slot0.kD = HopperConfig.LEFT_HOPPER_D;
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rightHopperConfig.Slot0.kP = HopperConfig.RIGHT_HOPPER_P;
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rightHopperConfig.Slot0.kI = HopperConfig.RIGHT_HOPPER_I;
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rightHopperConfig.Slot0.kD = HopperConfig.RIGHT_HOPPER_D;
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leftHopperConfig.Feedback.SensorToMechanismRatio =
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HopperConfig.LEFT_HOPPER_GEAR_RATIO; // gear ratio
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rightHopperConfig.Feedback.SensorToMechanismRatio = HopperConfig.RIGHT_HOPPER_GEAR_RATIO;
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leftHopperConfig.MotorOutput.NeutralMode = NeutralModeValue.Coast;
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rightHopperConfig.MotorOutput.NeutralMode = NeutralModeValue.Coast;
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leftHopper.getConfigurator().apply(leftHopperConfig);
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rightHopper.getConfigurator().apply(rightHopperConfig);
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// follower = new Follower(CANMappings.K_Hopper_LEFT_ID, false);
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}
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public void extend(double rotation) {
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leftHopper.setControl(new MotionMagicVoltage(rotation));
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rightHopper.setControl(new MotionMagicVoltage(rotation));
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}
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public void retract(double rotation) {
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leftHopper.setControl(new MotionMagicVoltage(rotation));
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rightHopper.setControl(new MotionMagicVoltage(rotation));
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}
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public void directionalExtend(double speed) {
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leftHopper.setControl(new DutyCycleOut(speed));
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rightHopper.setControl(new DutyCycleOut(speed));
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}
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public void directionalRetract(double speed) {
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leftHopper.setControl(new DutyCycleOut(speed));
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rightHopper.setControl(new DutyCycleOut(speed));
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}
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public void stop() {
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leftHopper.stopMotor();
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rightHopper.stopMotor();
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}
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public void zero() {
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leftHopper.setPosition(0.0);
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rightHopper.setPosition(0.0);
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}
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public boolean atPosition() {
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return (Math.abs(leftHopper.getClosedLoopError().getValueAsDouble())
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<= HopperConfig.HOPPER_TOLERANCE)
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&& (Math.abs(rightHopper.getClosedLoopError().getValueAsDouble())
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<= HopperConfig.HOPPER_TOLERANCE);
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}
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}

‎src/main/java/frc/robot/subsystems/Spindexer.java‎

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package frc.robot.subsystems;
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import com.ctre.phoenix6.configs.TalonFXConfiguration;
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import com.ctre.phoenix6.controls.DutyCycleOut;
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import com.ctre.phoenix6.hardware.TalonFX;
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import com.ctre.phoenix6.signals.NeutralModeValue;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.config.CANMappings;
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import frc.robot.config.SpindexerConfig;
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public class Spindexer extends SubsystemBase {
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protected TalonFX spindexerMotor;
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public Spindexer() {
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spindexerMotor = new TalonFX(CANMappings.SPINDEXER_MOTOR_ID);
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TalonFXConfiguration spindexerMotorConfig = new TalonFXConfiguration();
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spindexerMotorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
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spindexerMotorConfig.CurrentLimits.StatorCurrentLimitEnable = true;
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spindexerMotorConfig.CurrentLimits.SupplyCurrentLimit =
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SpindexerConfig.SPINDEXER_SUPPLY_CURRENT_LIMIT;
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spindexerMotorConfig.CurrentLimits.StatorCurrentLimit =
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SpindexerConfig.SPINDEXER_STATOR_CURRENT_LIMIT;
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spindexerMotorConfig.Feedback.SensorToMechanismRatio = SpindexerConfig.SPINDEXER_GEAR_RATIO;
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spindexerMotorConfig.MotorOutput.NeutralMode = NeutralModeValue.Coast;
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spindexerMotor.getConfigurator().apply(spindexerMotorConfig);
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}
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public void index(double velocity) {
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spindexerMotor.setControl(new DutyCycleOut(velocity));
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}
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public void stop() {
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spindexerMotor.stopMotor();
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}
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}

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