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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,159 @@ | ||
| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
|
|
||
| package frc.robot.config; | ||
|
|
||
| import com.ctre.phoenix6.configs.CurrentLimitsConfigs; | ||
| import com.ctre.phoenix6.configs.FeedbackConfigs; | ||
| import com.ctre.phoenix6.configs.MotionMagicConfigs; | ||
| import com.ctre.phoenix6.configs.MotorOutputConfigs; | ||
| import com.ctre.phoenix6.configs.Slot0Configs; | ||
| import com.ctre.phoenix6.configs.Slot1Configs; | ||
| import com.ctre.phoenix6.configs.TalonFXConfiguration; | ||
| import com.ctre.phoenix6.configs.VoltageConfigs; | ||
| import com.ctre.phoenix6.mechanisms.swerve.utility.PhoenixPIDController; | ||
| import com.ctre.phoenix6.signals.GravityTypeValue; | ||
| import com.ctre.phoenix6.signals.InvertedValue; | ||
| import com.ctre.phoenix6.signals.NeutralModeValue; | ||
| import edu.wpi.first.math.geometry.Rotation2d; | ||
| import frc.robot.config.RobotConfig.ClimberConfig; | ||
| import frc.robot.config.RobotConfig.IMUConfig; | ||
| import frc.robot.config.RobotConfig.IntakeConfig; | ||
| import frc.robot.config.RobotConfig.LightsConfig; | ||
| import frc.robot.config.RobotConfig.ShooterConfig; | ||
| import frc.robot.config.RobotConfig.ShoulderConfig; | ||
| import frc.robot.config.RobotConfig.SwerveConfig; | ||
|
|
||
| class CompConfig { | ||
| public static final RobotConfig competitionBot = | ||
| new RobotConfig( | ||
| "competition", | ||
| "581CANivore", | ||
| new ShooterConfig( | ||
| 18, | ||
| 19, | ||
| new TalonFXConfiguration() | ||
| .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(1.0 / 1.5)) | ||
| .withCurrentLimits(new CurrentLimitsConfigs().withSupplyCurrentLimit(120)) | ||
| .withSlot0(new Slot0Configs().withKP(5.5).withKV(0.0).withKS(13.0)) | ||
| .withMotorOutput( | ||
| new MotorOutputConfigs() | ||
| .withNeutralMode(NeutralModeValue.Coast) | ||
| .withInverted(InvertedValue.Clockwise_Positive)), | ||
| new TalonFXConfiguration() | ||
| .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(1.0 / 1.5)) | ||
| .withCurrentLimits(new CurrentLimitsConfigs().withSupplyCurrentLimit(120)) | ||
| .withSlot0(new Slot0Configs().withKP(5).withKV(0.0).withKS(13.0)) | ||
| .withMotorOutput( | ||
| new MotorOutputConfigs() | ||
| .withNeutralMode(NeutralModeValue.Coast) | ||
| .withInverted(InvertedValue.Clockwise_Positive)), | ||
| speakerDistanceToRPM -> { | ||
| speakerDistanceToRPM.put(0.0, 4000.0); | ||
| speakerDistanceToRPM.put(3.0, 6000.0); | ||
| speakerDistanceToRPM.put(4.0, 6500.0); | ||
| speakerDistanceToRPM.put(6.0, 7000.0); | ||
| }, | ||
| floorSpotDistanceToRPM -> { | ||
| floorSpotDistanceToRPM.put(1.6, 1700.0); | ||
| floorSpotDistanceToRPM.put(3.4, 2000.0); | ||
| floorSpotDistanceToRPM.put(4.8, 2700.0); | ||
| }), | ||
| new ClimberConfig( | ||
| 20, | ||
| 21, | ||
| new TalonFXConfiguration() | ||
| .withSlot0(new Slot0Configs().withKP(8)) | ||
| .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(17.0 / 1.0)) | ||
| .withCurrentLimits(new CurrentLimitsConfigs().withStatorCurrentLimit(40)) | ||
| .withVoltage( | ||
| new VoltageConfigs() | ||
| .withPeakForwardVoltage(12.0) | ||
| .withPeakReverseVoltage(-2.0))), | ||
| new ShoulderConfig( | ||
| 14, | ||
| 15, | ||
| new TalonFXConfiguration() | ||
| .withSlot0( | ||
| new Slot0Configs() | ||
| .withGravityType(GravityTypeValue.Arm_Cosine) | ||
| .withKG(0.47) | ||
| .withKP(200.0)) | ||
| .withSlot1( | ||
| new Slot1Configs() | ||
| .withGravityType(GravityTypeValue.Arm_Cosine) | ||
| .withKG(0.47) | ||
| .withKP(200.0)) | ||
| .withMotionMagic( | ||
| new MotionMagicConfigs() | ||
| .withMotionMagicAcceleration(1.5) | ||
| .withMotionMagicCruiseVelocity(2.0) | ||
| .withMotionMagicJerk(0)) | ||
| .withFeedback( | ||
| new FeedbackConfigs() | ||
| .withSensorToMechanismRatio( | ||
| 1 / ((12.0 / 50.0) * (20.0 / 84.0) * (12.0 / 72.0)))) | ||
| .withCurrentLimits(new CurrentLimitsConfigs().withSupplyCurrentLimit(40)) | ||
| .withMotorOutput( | ||
| new MotorOutputConfigs() | ||
| .withInverted(InvertedValue.Clockwise_Positive) | ||
| .withNeutralMode(NeutralModeValue.Brake)), | ||
| new CurrentLimitsConfigs().withSupplyCurrentLimit(40), | ||
| -0.05, | ||
| 10, | ||
| Rotation2d.fromDegrees(-14), | ||
| 4, | ||
| Rotation2d.fromDegrees(-13.5), | ||
| Rotation2d.fromDegrees(115), | ||
| distanceToAngleTolerance -> { | ||
| distanceToAngleTolerance.put(0.85, 5.0); | ||
| distanceToAngleTolerance.put(8.0, 1.0); | ||
| }, | ||
| speakerDistanceToAngle -> { | ||
| speakerDistanceToAngle.put(0.0, 0.0); | ||
| speakerDistanceToAngle.put(1.43, 6.0); | ||
| speakerDistanceToAngle.put(2.0, 17.0); | ||
| speakerDistanceToAngle.put(2.57, 23.0); | ||
| speakerDistanceToAngle.put(3.0, 26.0); | ||
| speakerDistanceToAngle.put(3.5, 30.0); | ||
| speakerDistanceToAngle.put(4.0, 32.0); | ||
| speakerDistanceToAngle.put(6.0, 34.0); | ||
| }, | ||
| floorSpotDistanceToAngle -> { | ||
| floorSpotDistanceToAngle.put(1.6, 70.0); | ||
| floorSpotDistanceToAngle.put(3.4, 40.0); | ||
| floorSpotDistanceToAngle.put(4.8, 20.0); | ||
| floorSpotDistanceToAngle.put(15.0, 10.0); | ||
| }), | ||
| new IntakeConfig( | ||
| 16, | ||
| 22, | ||
| 0, | ||
| // Top Motor | ||
| new TalonFXConfiguration() | ||
| .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(1)) | ||
| .withCurrentLimits(new CurrentLimitsConfigs().withSupplyCurrentLimit(20)) | ||
| .withMotorOutput( | ||
| new MotorOutputConfigs() | ||
| .withInverted(InvertedValue.CounterClockwise_Positive)), | ||
| // Bottom Motor | ||
| new TalonFXConfiguration() | ||
| .withFeedback(new FeedbackConfigs().withSensorToMechanismRatio(1)) | ||
| .withCurrentLimits(new CurrentLimitsConfigs().withSupplyCurrentLimit(20)) | ||
| .withMotorOutput( | ||
| new MotorOutputConfigs().withInverted(InvertedValue.Clockwise_Positive))), | ||
| new SwerveConfig( | ||
| new CurrentLimitsConfigs().withStatorCurrentLimit(60), | ||
| new CurrentLimitsConfigs().withStatorCurrentLimit(60), | ||
| new PhoenixPIDController(12, 0, 0.8), | ||
| true), | ||
| new IMUConfig( | ||
| 1, | ||
| distanceToAngleTolerance -> { | ||
| // TODO: tune distance and angle | ||
| distanceToAngleTolerance.put(1.0, 2.5); | ||
| distanceToAngleTolerance.put(10.0, 2.5); | ||
| }), | ||
| new LightsConfig(23)); | ||
| } |
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