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add check if stalling to prep for hardstop in physical turret #4

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add check if stalling to prep for hardstop in physical turret #4

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3 changes: 1 addition & 2 deletions src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SL_SwerveModule.java
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@
import com.stuypulse.stuylib.math.Angle;
import com.stuypulse.stuylib.streams.angles.filters.ARateLimit;

import com.stuypulse.robot.Robot;
import com.stuypulse.robot.constants.Motors;
import com.stuypulse.robot.constants.Settings.Swerve;
import com.stuypulse.robot.constants.Settings.Swerve.Drive;
Expand Down Expand Up @@ -91,7 +90,7 @@ public SL_SwerveModule(String id, Translation2d location, int turnCANId, Rotatio
Motors.disableStatusFrames(driveMotor, 3, 4, 5, 6);

driveController = new PIDController(Drive.kP, Drive.kI, Drive.kD)
.setOutputFilter(x -> true ? 0 : x)
.setOutputFilter(x -> true ? 0 : x) //XXX: This doesnt work
.add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity());

targetState = new SwerveModuleState();
Expand Down
2 changes: 1 addition & 1 deletion src/main/java/com/stuypulse/robot/subsystems/swerve/evenMoreSwerve/SimModule.java
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Expand Up @@ -83,7 +83,7 @@ public SimModule(String id, Translation2d location) {
driveSim = new LinearSystemSim<>(identifyVelocityPositionSystem(Drive.kV, Drive.kA));

driveController = new PIDController(Drive.kP, Drive.kI, Drive.kD)
.setOutputFilter(x -> true ? 0 : x)
.setOutputFilter(x -> true ? 0 : x) //Same issue as SL_SwerveModule
.add(new MotorFeedforward(Drive.kS, Drive.kV, Drive.kA).velocity());

targetState = new SwerveModuleState();
Expand Down
6 changes: 5 additions & 1 deletion src/main/java/com/stuypulse/robot/subsystems/turret/TurretImpl.java
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Expand Up @@ -13,6 +13,7 @@ public class TurretImpl extends Turret {
public TurretImpl(int port) {
motor = new CANSparkMax(port, MotorType.kBrushless);
encoder = motor.getAbsoluteEncoder(Type.kDutyCycle);
encoder.setPositionConversionFactor(-1); //TODO: figure out the conversion factor
}

@Override
Expand All @@ -25,9 +26,12 @@ public void setTurretVoltage(double voltage) {
motor.setVoltage(voltage);
}

public boolean isStalling() {
return motor.getOutputCurrent() > 40;
}

@Override
public void periodic2() {

}
}

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