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basic climber done TODO: tune and test PID and add setpoints/controls
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src/main/java/org/jmhsrobotics/frc2024/subsystems/climber/ClimbCommand.java
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package org.jmhsrobotics.frc2024.subsystems.climber; | ||
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import com.revrobotics.CANSparkMax; | ||
import com.revrobotics.SparkPIDController; | ||
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import edu.wpi.first.wpilibj2.command.Command; | ||
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public class ClimbCommand extends Command { | ||
private ClimbSubsystem climbSubsystem; | ||
private double length; | ||
private SparkPIDController lengthPIDController; | ||
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public ClimbCommand(ClimbSubsystem climbSubsystem, double length) { | ||
this.climbSubsystem = climbSubsystem; | ||
this.length = length; | ||
addRequirements(climbSubsystem); | ||
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lengthPIDController = climbSubsystem.getMotor().getPIDController(); | ||
lengthPIDController.setFeedbackDevice(climbSubsystem.getEncoder()); | ||
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// TODO: tune vals | ||
lengthPIDController.setP(.1); | ||
lengthPIDController.setI(0); | ||
lengthPIDController.setD(0); | ||
lengthPIDController.setFF(0); | ||
lengthPIDController.setOutputRange(-1, 1); | ||
lengthPIDController.setReference(length, CANSparkMax.ControlType.kPosition); | ||
} | ||
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} |
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src/main/java/org/jmhsrobotics/frc2024/subsystems/climber/ClimbSubsystem.java
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package org.jmhsrobotics.frc2024.subsystems.climber; | ||
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import com.revrobotics.CANSparkMax; | ||
import com.revrobotics.RelativeEncoder; | ||
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import com.revrobotics.CANSparkLowLevel.MotorType; | ||
import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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import com.revrobotics.CANSparkBase.IdleMode; | ||
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public class ClimbSubsystem extends SubsystemBase { | ||
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private CANSparkMax climbMotor = new CANSparkMax(11, MotorType.kBrushless); | ||
private RelativeEncoder climbEncoder = climbMotor.getEncoder(); | ||
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public ClimbSubsystem() { | ||
climbEncoder.setPosition(0); | ||
climbMotor.setIdleMode(IdleMode.kBrake); | ||
climbMotor.setSmartCurrentLimit(40); | ||
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} | ||
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public CANSparkMax getMotor() { | ||
return climbMotor; | ||
} | ||
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public void setMotor(double amount) { | ||
climbMotor.set(amount); | ||
} | ||
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public double getClimbPosition() { | ||
return climbEncoder.getPosition(); | ||
} | ||
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public void setEncoder(double amount) { | ||
climbEncoder.setPosition(amount); | ||
} | ||
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public RelativeEncoder getEncoder() { | ||
return climbEncoder; | ||
} | ||
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} |