more constants

team4099 · Jan 14, 2024 · 859a77d · 859a77d
1 parent 5e1e050
commit 859a77d
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Showing 3 changed files with 26 additions and 30 deletions.
diff --git a/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt b/src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt
@@ -134,4 +134,10 @@ object Constants {
     const val LED_CANDLE_ID = 61
     const val LED_BLINKEN_ID = 1
   }
+
+  object TelescopingClimber {
+    const val SOLENOID_ID = 0
+    const val R_ARM_ID = 0
+    const val L_ARM_ID = 0
+  }
 }
diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArm.kt
@@ -48,33 +48,25 @@ class TelescopingArm(val io: TelescopingArmIO) : SubsystemBase() {
     override fun periodic() {
         io.updateInputs(inputs)
 
-        Logger.get().processInputs("TelescopingArm", inputs)
-        Logger.get().recordOutput("TelescopingArm/desiredState", desiredState.name)
-        Logger.get().recordOutput("TelescopingArm/currentState", currentState.name)
-        Logger.get()
-            .recordOutput(
+        Logger.processInputs("TelescopingArm", inputs)
+        Logger.recordOutput("TelescopingArm/desiredState", desiredState.name)
+        Logger.recordOutput("TelescopingArm/currentState", currentState.name)
+        Logger.recordOutput(
                 "TelescopingArm/leftPositionSetpointInches", leftSetpoint.position.meters.inInches
             )
-        Logger.get()
-            .recordOutput("TelescopingArm/leftVelocitySetpointMetersPerSec", leftSetpoint.velocity)
-        Logger.get()
-            .recordOutput(
+        Logger.recordOutput("TelescopingArm/leftVelocitySetpointMetersPerSec", leftSetpoint.velocity)
+        Logger.recordOutput(
                 "TelescopingArm/rightPositionSetpointInches",
                 rightSetpoint.position.meters.inInches
             )
-        Logger.get()
-            .recordOutput(
+        Logger.recordOutput(
                 "TelescopingArm/rightVelocitySetpointMetersPerSec", rightSetpoint.velocity
             )
 
-        Logger.get()
-            .recordOutput("TelescopingArm/leftForwardLimitReached", leftForwardLimitReached)
-        Logger.get()
-            .recordOutput("TelescopingArm/leftReverseLimitReached", leftReverseLimitReached)
-        Logger.get()
-            .recordOutput("TelescopingArm/rightForwardLimitReached", rightForwardLimitReached)
-        Logger.get()
-            .recordOutput("TelescopingArm/rightReverseLimitReached", rightReverseLimitReached)
+        Logger.recordOutput("TelescopingArm/leftForwardLimitReached", leftForwardLimitReached)
+        Logger.recordOutput("TelescopingArm/leftReverseLimitReached", leftReverseLimitReached)
+        Logger.recordOutput("TelescopingArm/rightForwardLimitReached", rightForwardLimitReached)
+        Logger.recordOutput("TelescopingArm/rightReverseLimitReached", rightReverseLimitReached)
 
         if (kP.hasChanged() || kI.hasChanged() || kD.hasChanged()) {
             io.configPID(kP.value, kI.value, kD.value)
@@ -216,8 +208,7 @@ class TelescopingArm(val io: TelescopingArmIO) : SubsystemBase() {
                     .volts
             )
 
-            Logger.get()
-                .recordOutput(
+            Logger.recordOutput(
                     "TelescopingArm/leftFeedForwardVolts",
                     noLoadFeedForward.calculate(
                         leftSetpoint.velocity, leftAccel.inMetersPerSecondPerSecond
@@ -228,8 +219,7 @@ class TelescopingArm(val io: TelescopingArmIO) : SubsystemBase() {
                 noLoadFeedForward.calculate(rightSetpoint.velocity, rightAccel.inMetersPerSecondPerSecond)
                     .volts
             )
-            Logger.get()
-                .recordOutput(
+            Logger.recordOutput(
                     "TelescopingArm/rightFeedForwardVolts",
                     noLoadFeedForward.calculate(
                         rightSetpoint.velocity, rightAccel.inMetersPerSecondPerSecond
@@ -241,8 +231,7 @@ class TelescopingArm(val io: TelescopingArmIO) : SubsystemBase() {
                 loadedFeedForward.calculate(leftSetpoint.velocity, leftAccel.inMetersPerSecondPerSecond)
                     .volts
             )
-            Logger.get()
-                .recordOutput(
+            Logger.recordOutput(
                     "TelescopingArm/leftFeedForwardVolts",
                     loadedFeedForward.calculate(
                         leftSetpoint.velocity, leftAccel.inMetersPerSecondPerSecond
@@ -253,7 +242,7 @@ class TelescopingArm(val io: TelescopingArmIO) : SubsystemBase() {
                 loadedFeedForward.calculate(rightSetpoint.velocity, rightAccel.inMetersPerSecondPerSecond)
                     .volts
             )
-            Logger.get().recordOutput(
+            Logger.recordOutput(
                 "TelescopingArm/rightFeedForwardVolts",
                 loadedFeedForward.calculate(
                     rightSetpoint.velocity, rightAccel.inMetersPerSecondPerSecond

diff --git a/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt b/src/main/kotlin/com/team4099/robot2023/subsystems/TelescopingArm/TelescopingArmIOReal.kt
@@ -3,31 +3,32 @@ package com.team4099.robot2022.subsystems.climber
 import com.ctre.phoenix6.configs.TalonFXConfiguration
 import com.revrobotics.CANSparkMax
 import com.revrobotics.CANSparkMaxLowLevel
+import com.team4099.robot2023.config.constants.Constants
+import com.team4099.robot2023.config.constants.TelescopingArmConstants
 import org.team4099.lib.units.base.amps
 import org.team4099.lib.units.derived.ElectricalPotential
 import org.team4099.lib.units.derived.inVolts
 import org.team4099.lib.units.derived.volts
-import com.team4099.robot2023.config.constants.TelescopingArmConstants
 import com.team4099.robot2023.subsystems.TelescopingArm.TelescopingArmIO
 import org.team4099.lib.units.base.Length
 import org.team4099.lib.units.sparkMaxLinearMechanismSensor
 
 object TelescopingArmIOReal : TelescopingArmIO {
     private val telescopingLeftArm: CANSparkMax = CANSparkMax(
-        TelescopingArmConstants.L_ARM_ID,
+        Constants.TelescopingArm.L_ARM_ID,
         CANSparkMaxLowLevel.MotorType.kBrushless
     )
 
     private val telescopingRightArm: CANSparkMax = CANSparkMax(
-        TelescopingArmConstants.R_ARM_ID,
+        Constants.TelescopingArm.R_ARM_ID,
         CANSparkMaxLowLevel.MotorType.kBrushless
     )
 
     val telescopingLeftArmSensor =
         sparkMaxLinearMechanismSensor(
             telescopingLeftArm,
             TelescopingArmConstants.SENSOR_CPR,
-            TelescopingArmConstants.ARM_GEAR_RATIO,
+            TelescopingArmConstants.GEAR_RATIO,
             TelescopingArmConstants.LEFT_SPOOL_RADIUS * 2
         )