Feeder #15
Feeder #15
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…constants to be for shooter
# Conflicts: # src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/Flywheel.kt # src/main/kotlin/com/team4099/robot2023/subsystems/Shooter/Shooter.kt
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looks pretty good overall, get rid of idle state and request though. idle in the case of feeder is just open loop 0 (or whatever voltage needed to hold).
also, open loop intake and open loop shoot shouldn't be two separate states and requests. OpenLoop is a state of the feedersubsystem, different voltages being applied don't constitute them being different states. Looking at the code I see why we felt we should do this, but I would have one open loop state that accepts a voltage and looks like
open loop state -> {
if (note) -> setVoltage(targetVoltage)
else -> setVoltage(idleVoltage)
nextState = nextRequestMapped
}
| FeederStates.UNINITIALIZED -> { | ||
| nextState = FeederStates.IDLE | ||
| } | ||
| FeederStates.IDLE -> { |
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idle state doesn't make sense. this is setting an open loop voltage, you should reuse states and requests as much as you can
| setFeederVoltage(feederTargetVoltage) | ||
| nextState = fromRequestToState(currentRequest) | ||
| } else { | ||
| nextState = FeederStates.IDLE |
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next state should be whatever the next request is
| setFeederVoltage(feederTargetVoltage) | ||
| nextState = fromRequestToState(currentRequest) | ||
| } else { | ||
| nextState = FeederStates.IDLE |
| var feederSupplyCurrent = 0.0.amps | ||
| var feederTemp = 0.0.celsius | ||
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| var beamBroken = false |
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| feederSparkMax.idleMode = CANSparkMax.IdleMode.kCoast | ||
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| feederSparkMax.openLoopRampRate = 0.0 |
| mutableListOf(Neo(feederSparkMax, "Roller Motor")), | ||
| FeederConstants.FEEDER_CURRENT_LIMIT, | ||
| 70.celsius, | ||
| FeederConstants.FEEDER_CURRENT_LIMIT - 0.amps, |
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this will break motor checker, needs to be different
| inputs.feederStatorCurrent * feederSparkMax.appliedOutput.absoluteValue | ||
| inputs.feederTemp = feederSparkMax.motorTemperature.celsius | ||
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| Logger.recordOutput( |
| "Intake/rollerMotorOvercurrentFault", | ||
| feederSparkMax.getFault(CANSparkMax.FaultID.kOvercurrent) | ||
| ) | ||
| Logger.recordOutput("Intake/busVoltage", feederSparkMax.busVoltage) |
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