Elevator! #21
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Elevator! #21
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amb2127
reviewed
Jan 21, 2024
amb2127
reviewed
Jan 21, 2024
amb2127
reviewed
Jan 21, 2024
amb2127
reviewed
Jan 22, 2024
amb2127
reviewed
Jan 22, 2024
| inputs.followMotorTemp = followMotorTemp.getValue(); | ||
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| SmartDashboard.putNumber("Elevator motor position in inches", leadMotor.getPosition().getValue() * Constants.ELEVATOR_INCHES_PER_ROTATION); | ||
| SmartDashboard.putNumber("Elevator motor velocity", + leadMotor.getVelocity().getValue()); |
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smart dashboard no good :c
amb2127
reviewed
Jan 23, 2024
| //elevatorFollower.getEncoder().setPosition(position); | ||
| } | ||
| public void setElevatorVoltage(double voltage) { | ||
| leadMotor.setControl(withVoltage.withOutput(voltage)); |
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dot withEnableFOC true dot with OverrideBrakeDurNeutral true
amb2127
reviewed
Jan 23, 2024
| slot0.kD = 0; | ||
| slot0.kV = 0; | ||
| slot0.kS = 0; // Approximately 0.25V would get the mechanism moving | ||
| slot0.kG = 0; |
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delete non default values
amb2127
reviewed
Jan 23, 2024
| private final TalonFX leadMotor; | ||
| private final TalonFX followMotor; | ||
| private final VoltageOut withVoltage; | ||
| private final MotionMagicVoltage motionMagicRequest = new MotionMagicVoltage(0); |
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could move these to above the functions they're used in for clarity's sake
amb2127
reviewed
Jan 23, 2024
-added .withEnableFOC(true).withOverrideBrakeDurNeutral(true) to motion magic stuff -removed smart dashboard references -deleted pid values being set to 0 because they default to 0
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Good! |
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Elevator subsystem code for review