made flywheel(shooter) subsystem #3
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Srijan-Murai
requested review from
boomermath,
drewbxyz,
samperlmutter and
taran-duba
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Hey! Take a look here for some comments: #1 |
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| public default void launchRing() {} | ||
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| public default void setRunning(boolean runIntake) {} |
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The setRunning method appears to contribute no additional functionality to the IO. I would suggest removing it
| // make lower a follower of upper | ||
| leftFX.setControl(new Follower(FlywheelConfigs.rightFXID, false)); | ||
| // add motors to sim | ||
| // PhysicsSim.getInstance().addTalonFX(leftFX); |
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You would want the PhysicsSim lines uncommented for simulation in order to add TalonFX to it.
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| @Override | ||
| public void setRollerDuty(double power) { | ||
| leftFX.setControl(new DutyCycleOut(power)); |
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It is more efficient to reuse the same instance of the control request DutyCycleOut and simply use the withOutput method to change the value of the output upon calling this method. I would also note that for flywheel control, it may be worth considering more robust control alternatives such as velocity control, but this is ok for testing for the time being.
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(try motion magic torque current velocity)
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(try motion magic torque current velocity)
See this for an example of what you could use
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See javadoc for import path. Otherwise if it isn't showing up, you might want to sync vendordeps
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I will remove launchRing method next commit I think it just does the setRoller method's job |
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| @Override | ||
| public void setRoller(double power) { | ||
| leftMotor.setControl(new MotionMagicVelocityTorqueCurrentFOC(power)); |
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Please see my previous comment on reusing control requests
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| public default void setRoller(double power) {} | ||
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| public default void launchRing() {} |
| public Flywheel(FlywheelIO io) { | ||
| // Recording inputs from roller | ||
| this.io = io; | ||
| // Logger.processInputs("Flywheel", inputs); error |
samperlmutter
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samperlmutter
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looking much better. mostly just cleanup now
src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java
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| public void setRoller(double power) { | ||
| leftMotor.setControl(motionRequest.withVelocity(power)); |
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power isn't quite the right name for this parameter right? what is the parameter representing here?
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I'll change it to velocity
src/main/java/frc/robot/subsystems/flywheel/FlywheelIOTalonFX.java
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4 participants
Made flywheel subsystem. Had to delete old shooter branch because of weird issues but both are identical.