added burnFlash() method to motor configurations and also set more ID…

…s and added brushes perference
2491-NoMythic · Feb 14, 2024 · ff6f3c1 · ff6f3c1
1 parent 289baef
commit ff6f3c1
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Showing 4 changed files with 36 additions and 23 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -123,6 +123,7 @@ public class RobotContainer {
   /** The container for the robot. Contains subsystems, OI devices, and commands. */
   public RobotContainer() {
     //preferences are initialized IF they don't already exist on the Rio
+    Preferences.initBoolean("Brushes", false);
     Preferences.initBoolean("Intake", false);
     Preferences.initBoolean("Climber", false);
     Preferences.initBoolean("Shooter", false);

diff --git a/src/main/java/frc/robot/settings/Constants.java b/src/main/java/frc/robot/settings/Constants.java
@@ -254,9 +254,9 @@ private DriveConstants() {
     public static final double k_PICKUP_NOTE_tx_D = 0;
   }
 public static final class ShooterConstants{
-  public static final int SHOOTER_R_MOTORID = 2491;
-  public static final int SHOOTER_L_MOTORID = 2491;
-  public static final int PITCH_MOTOR_ID = 2491;
+  public static final int SHOOTER_R_MOTORID = 10;
+  public static final int SHOOTER_L_MOTORID = 9;
+  public static final int PITCH_MOTOR_ID = 22;
   public static final double SHOOTER_MOTOR_POWER = 1;
   public static final double SHOOTING_SPEED_MPS = 10;
   public static final double RUNNING_VELOCITY_RPS = 2491;
@@ -310,15 +310,15 @@ public static final class ClimberConstants{
   public static final double CLIMBER_RPM = 0.1;
 }
 public static final class IndexerConstants{
-  public static final int INDEXER_MOTOR = 2491;
+  public static final int INDEXER_MOTOR = 23;
   public static final double INDEXER_SPEED = 2491;
 }
 public static final class IntakeConstants{
   public static final int INTAKE_1_MOTOR = 20;
   public static final int INTAKE_2_MOTOR = 21;
-  public static final int BRUSH_1_MOTOR = 22;
-  public static final int BRUSH_2_MOTOR = 23;
-  public static final int BRUSH_3_MOTOR = 24;
+  public static final int BRUSH_1_MOTOR = 2491;
+  public static final int BRUSH_2_MOTOR = 2491;
+  public static final int BRUSH_3_MOTOR = 2491;
   public static final double INTAKE_SPEED = 0.75;
 }
 public static final class CTREConfigs {

diff --git a/src/main/java/frc/robot/subsystems/IndexerSubsystem.java b/src/main/java/frc/robot/subsystems/IndexerSubsystem.java
@@ -16,6 +16,8 @@ public class IndexerSubsystem extends SubsystemBase {
 
     public IndexerSubsystem() {
         m_IndexerMotor = new CANSparkMax(IndexerConstants.INDEXER_MOTOR, MotorType.kBrushless);
+        m_IndexerMotor.setInverted(false);
+        m_IndexerMotor.burnFlash();
         m_DistanceSensor = m_IndexerMotor.getAnalog(Mode.kAbsolute);
     }
 

diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -12,6 +12,7 @@
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
 
+import edu.wpi.first.wpilibj.Preferences;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
  import frc.robot.settings.Constants.IntakeConstants;
@@ -27,36 +28,45 @@ public class IntakeSubsystem extends SubsystemBase {
   public IntakeSubsystem() {
     intake1 = new CANSparkMax(IntakeConstants.INTAKE_1_MOTOR, MotorType.kBrushless);
     intake2 = new CANSparkMax(IntakeConstants.INTAKE_2_MOTOR, MotorType.kBrushless);
-    brush1 = new CANSparkMax(IntakeConstants.BRUSH_1_MOTOR, MotorType.kBrushless);
-    brush2 = new CANSparkMax(IntakeConstants.BRUSH_2_MOTOR, MotorType.kBrushless);
-    brush3 = new CANSparkMax(IntakeConstants.BRUSH_3_MOTOR, MotorType.kBrushless);
-
+    if(Preferences.getBoolean("Brushes", false)) {
+      brush1 = new CANSparkMax(IntakeConstants.BRUSH_1_MOTOR, MotorType.kBrushless);
+      brush2 = new CANSparkMax(IntakeConstants.BRUSH_2_MOTOR, MotorType.kBrushless);
+      brush3 = new CANSparkMax(IntakeConstants.BRUSH_3_MOTOR, MotorType.kBrushless);
+      brush1.setIdleMode(IdleMode.kCoast);
+      brush2.setIdleMode(IdleMode.kCoast);
+      brush3.setIdleMode(IdleMode.kCoast);
+    }
     intake2.follow(intake1);
     intake2.setInverted(true);
     intake1.setIdleMode(IdleMode.kCoast);
     intake2.setIdleMode(IdleMode.kCoast);
-    brush1.setIdleMode(IdleMode.kCoast);
-    brush2.setIdleMode(IdleMode.kCoast);
-    brush3.setIdleMode(IdleMode.kCoast);
+    intake1.burnFlash();
+    intake2.burnFlash();
   }
 
   public void intakeYes(double intakeRunSpeed) {
     intake1.set(intakeRunSpeed);
-    brush1.set(intakeRunSpeed);
-    brush2.set(intakeRunSpeed);
-    brush3.set(intakeRunSpeed);
+    if(Preferences.getBoolean("Brushes", false)) {
+      brush1.set(intakeRunSpeed);
+      brush2.set(intakeRunSpeed);
+      brush3.set(intakeRunSpeed);
+    }
 
   }
   public void intakeNo(double intakeRunSpeed) {
     intake1.set(-intakeRunSpeed);
-    brush1.set(-intakeRunSpeed);
-    brush2.set(-intakeRunSpeed);
-    brush3.set(-intakeRunSpeed);
+    if(Preferences.getBoolean("Brushes", false)) {
+      brush1.set(-intakeRunSpeed);
+      brush2.set(-intakeRunSpeed);
+      brush3.set(-intakeRunSpeed);
+    }
   }
   public void intakeOff() {
     intake1.set(0);
-    brush2.set(0);
-    brush1.set(0);
-    brush3.set(0);
+    if(Preferences.getBoolean("Brushes", false)) {
+      brush2.set(0);
+      brush1.set(0);
+      brush3.set(0);
+    }
   }
 }