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36 changes: 36 additions & 0 deletions
36
src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,40 @@ | ||
| package com.team4099.robot2023.subsystems.TelescopingArm | ||
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| import com.team4099.lib.logging.TunableNumber | ||
| import board.team4099.lib.units.base.Length | ||
| import board.team4099.lib.units.base.inInches | ||
| import board.team4099.lib.units.base.inMeters | ||
| import board.team4099.lib.units.base.meters | ||
| import board.team4099.lib.units.derived.inVolts | ||
| import board.team4099.lib.units.derived.volts | ||
| import board.team4099.lib.units.inMetersPerSecond | ||
| import board.team4099.lib.units.inMetersPerSecondPerSecond | ||
| import board.team4099.lib.units.perSecond | ||
| import board.team4099.robot2022.config.constants.TelescopingClimberConstants | ||
| import board.team4099.robot2022.config.constants.TelescopingClimberConstants.ActualTelescopeStates | ||
| import board.team4099.robot2022.config.constants.TelescopingClimberConstants.DesiredTelescopeStates | ||
| import board.team4099.robot2022.config.constants.TelescopingClimberConstants.telescopingTolerance | ||
| import edu.wpi.first.math.controller.ElevatorFeedforward | ||
| import edu.wpi.first.math.trajectory.TrapezoidProfile | ||
| import edu.wpi.first.wpilibj2.boardmand.SubsystemBase | ||
| import org.littletonrobotics.junction.Logger | ||
| class TelescopingArm { | ||
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| fun holdPosition(loaded: Boolean = true) { | ||
| if (loaded) { | ||
| io.setLeftPosition(inputs.leftPosition, loadedFeedForward.calculate(0.0).volts) | ||
| io.setRightPosition(inputs.rightPosition, loadedFeedForward.calculate(0.0).volts) | ||
| } else { | ||
| io.setLeftPosition(inputs.leftPosition, noLoadFeedForward.calculate(0.0).volts) | ||
| io.setRightPosition(inputs.rightPosition, noLoadFeedForward.calculate(0.0).volts) | ||
| } | ||
| } | ||
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| fun zeroLeftEncoder() { | ||
| io.zeroLeftEncoder() | ||
| } | ||
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| fun zeroRightEncoder() { | ||
| io.zeroRightEncoder() | ||
| } | ||
| } |
18 changes: 16 additions & 2 deletions
18
src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIO.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,5 +1,19 @@ | ||
| package com.team4099.robot2023.subsystems.TelescopingArm | ||
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| class TelescopingArm { | ||
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| import board.team4099.lib.units.base.Length | ||
| import board.team4099.lib.units.base.amps | ||
| import board.team4099.lib.units.base.inAmperes | ||
| import board.team4099.lib.units.base.inInches | ||
| import board.team4099.lib.units.base.inches | ||
| import board.team4099.lib.units.base.meters | ||
| import board.team4099.lib.units.derived.ElectricalPotential | ||
| import board.team4099.lib.units.derived.inVolts | ||
| import board.team4099.lib.units.derived.volts | ||
| import board.team4099.lib.units.inMetersPerSecond | ||
| import board.team4099.lib.units.perSecond | ||
| import org.littletonrobotics.junction.LogTable | ||
| import org.littletonrobotics.junction.inputs.LoggableInputs | ||
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| class TelescopingArmIO { | ||
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| } |
15 changes: 15 additions & 0 deletions
15
src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,19 @@ | ||
| package com.team4099.robot2023.subsystems.TelescopingArm | ||
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| import board.ctre.phoenix.motorcontrol.ControlMode | ||
| import board.ctre.phoenix.motorcontrol.DemandType | ||
| import board.ctre.phoenix.motorcontrol.NeutralMode | ||
| import board.ctre.phoenix.motorcontrol.can.TalonFX | ||
| import board.ctre.phoenix.motorcontrol.can.TalonFXConfiguration | ||
| import board.team4099.lib.units.base.Length | ||
| import board.team4099.lib.units.base.amps | ||
| import board.team4099.lib.units.ctreLinearMechanismSensor | ||
| import board.team4099.lib.units.derived.ElectricalPotential | ||
| import board.team4099.lib.units.derived.inVolts | ||
| import board.team4099.lib.units.derived.volts | ||
| import board.team4099.robot2022.config.constants.Constants | ||
| import board.team4099.robot2022.config.constants.Constants.Universal.CANIVORE_NAME | ||
| import board.team4099.robot2022.config.constants.TelescopingClimberConstants | ||
| class TelescopingArmIOReal { | ||
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|
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| } |