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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,68 +1,74 @@ | ||
| package frc.robot.intake; | ||
|
|
||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.REVLibError; | ||
| import com.revrobotics.RelativeEncoder; | ||
| import edu.wpi.first.math.util.Units; | ||
|
|
||
| public class IntakeIOSparkMAX implements IntakeIO { | ||
|
|
||
| private final CANSparkMax topRollerMotor, bottomRollerMotor, centeringMotors; | ||
| private final CANSparkMax m_topRollerMotor, m_bottomRollerMotor, m_centeringMotors; | ||
| private final RelativeEncoder m_topRollerEncoder, m_bottomRollerEncoder; | ||
|
|
||
| public IntakeIOSparkMAX() { | ||
| topRollerMotor = new CANSparkMax(5, CANSparkMax.MotorType.kBrushless); | ||
| bottomRollerMotor = new CANSparkMax(6, CANSparkMax.MotorType.kBrushless); | ||
| centeringMotors = new CANSparkMax(8, CANSparkMax.MotorType.kBrushed); | ||
| m_topRollerMotor = new CANSparkMax(5, CANSparkMax.MotorType.kBrushless); | ||
| m_bottomRollerMotor = new CANSparkMax(6, CANSparkMax.MotorType.kBrushless); | ||
| m_centeringMotors = new CANSparkMax(8, CANSparkMax.MotorType.kBrushed); | ||
|
|
||
| m_topRollerEncoder = topRollerMotor.getEncoder(); | ||
| m_bottomRollerEncoder = bottomRollerMotor.getEncoder(); | ||
| m_topRollerEncoder = m_topRollerMotor.getEncoder(); | ||
| m_bottomRollerEncoder = m_bottomRollerMotor.getEncoder(); | ||
|
|
||
| topRollerMotor.restoreFactoryDefaults(); | ||
| bottomRollerMotor.restoreFactoryDefaults(); | ||
| m_topRollerMotor.restoreFactoryDefaults(); | ||
| m_bottomRollerMotor.restoreFactoryDefaults(); | ||
|
|
||
| topRollerMotor.setSmartCurrentLimit(40); | ||
| bottomRollerMotor.setSmartCurrentLimit(40); | ||
| centeringMotors.setSmartCurrentLimit(40); | ||
| m_topRollerMotor.setSmartCurrentLimit(40); | ||
| m_bottomRollerMotor.setSmartCurrentLimit(40); | ||
| m_centeringMotors.setSmartCurrentLimit(40); | ||
| } | ||
|
|
||
| @Override | ||
| public void updateInputs(IntakeIOInputs inputs) { | ||
| inputs.topRollerVelocityRpm = | ||
| Units.rotationsPerMinuteToRadiansPerSecond(m_topRollerEncoder.getVelocity()); | ||
| inputs.topRollerAppliedVolts = | ||
| topRollerMotor.getAppliedOutput() * topRollerMotor.getBusVoltage(); | ||
| inputs.topRollerCurrentAmps = topRollerMotor.getOutputCurrent(); | ||
| m_topRollerMotor.getAppliedOutput() * m_topRollerMotor.getBusVoltage(); | ||
| inputs.topRollerCurrentAmps = m_topRollerMotor.getOutputCurrent(); | ||
|
|
||
| inputs.bottomRollerVelocityRpm = | ||
| Units.rotationsPerMinuteToRadiansPerSecond(m_bottomRollerEncoder.getVelocity()); | ||
| inputs.bottomRollerAppliedVolts = | ||
| bottomRollerMotor.getAppliedOutput() * bottomRollerMotor.getBusVoltage(); | ||
| inputs.bottomRollerCurrentAmps = bottomRollerMotor.getOutputCurrent(); | ||
| m_bottomRollerMotor.getAppliedOutput() * m_bottomRollerMotor.getBusVoltage(); | ||
| inputs.bottomRollerCurrentAmps = m_bottomRollerMotor.getOutputCurrent(); | ||
|
|
||
| inputs.centeringBagMotorsAppliedVolts = | ||
| centeringMotors.getAppliedOutput() * centeringMotors.getBusVoltage(); | ||
| inputs.bottomRollerCurrentAmps = centeringMotors.getOutputCurrent(); | ||
| m_centeringMotors.getAppliedOutput() * m_centeringMotors.getBusVoltage(); | ||
| inputs.bottomRollerCurrentAmps = m_centeringMotors.getOutputCurrent(); | ||
|
|
||
| inputs.rollerMotorsConnected = | ||
| m_topRollerMotor.getLastError() == REVLibError.kOk | ||
| && m_bottomRollerMotor.getLastError() == REVLibError.kOk; | ||
| inputs.centeringMotorConnected = m_centeringMotors.getLastError() == REVLibError.kOk; | ||
| } | ||
|
|
||
| @Override | ||
| public void setFrontRollersVoltage(double volts) { | ||
| topRollerMotor.setVoltage(volts); | ||
| m_topRollerMotor.setVoltage(volts); | ||
| } | ||
|
|
||
| @Override | ||
| public void setBackRollersVoltage(double volts) { | ||
| bottomRollerMotor.setVoltage(volts); | ||
| m_bottomRollerMotor.setVoltage(volts); | ||
| } | ||
|
|
||
| @Override | ||
| public void setCenteringMotorsVoltage(double volts) { | ||
| centeringMotors.setVoltage(volts); | ||
| m_centeringMotors.setVoltage(volts); | ||
| } | ||
|
|
||
| @Override | ||
| public void stopRollers() { | ||
| topRollerMotor.stopMotor(); | ||
| bottomRollerMotor.stopMotor(); | ||
| centeringMotors.stopMotor(); | ||
| m_topRollerMotor.stopMotor(); | ||
| m_bottomRollerMotor.stopMotor(); | ||
| m_centeringMotors.stopMotor(); | ||
| } | ||
| } |
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