added falcon config for collector motor

frc-862 · Jan 12, 2024 · 452e83f · 452e83f
1 parent 7c8e85b
commit 452e83f
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Showing 2 changed files with 13 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -9,6 +9,7 @@
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstants.SteerFeedbackType;
 import com.ctre.phoenix6.mechanisms.swerve.SwerveModuleConstantsFactory;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.math.geometry.Translation2d;
 import edu.wpi.first.math.util.Units;
 import frc.robot.Constants.RobotMap.CAN;
@@ -156,4 +157,11 @@ public class VisionConstants  {
             public static final Translation2d FIELD_LIMIT = new Translation2d(Units.feetToMeters(54.0), Units.feetToMeters(26.0));
             public static final Translation2d VISION_LIMIT = new Translation2d(Units.feetToMeters(9), Units.feetToMeters(5));
     }
+
+    public class CollectorConstants {
+        public static final boolean COLLECTOR_MOTOR_INVERTED = false;
+        public static final int COLLECTOR_MOTOR_SUPPLY_CURRENT_LIMIT = 0; // TODO: make sure they are not set to 0
+        public static final int COLLECTOR_MOTOR_STATOR_CURRENT_LIMIT = 0;
+        public static final NeutralModeValue COLLECTOR_MOTOR_NEUTRAL_MODE = NeutralModeValue.Coast;
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/Collector.java b/src/main/java/frc/robot/subsystems/Collector.java
@@ -5,9 +5,13 @@
 package frc.robot.subsystems;
 
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj.DigitalInput;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.RobotMap;
+import frc.robot.Constants.RobotMap.CAN;
+import frc.robot.Constants.CollectorConstants;
+import frc.thunder.config.FalconConfig;
 
 public class Collector extends SubsystemBase {
 
@@ -17,7 +21,7 @@ public class Collector extends SubsystemBase {
 
   public Collector() {
     // Initialize collector hardware
-    collectorMotor = new TalonFX(RobotMap.CAN.COLLECTOR_MOTOR);
+    collectorMotor = FalconConfig.createMotor(CAN.COLLECTOR_MOTOR, getName(), CollectorConstants.COLLECTOR_MOTOR_INVERTED, CollectorConstants.COLLECTOR_MOTOR_SUPPLY_CURRENT_LIMIT, CollectorConstants.COLLECTOR_MOTOR_STATOR_CURRENT_LIMIT, CollectorConstants.COLLECTOR_MOTOR_NEUTRAL_MODE);
     collectorEntryBeamBreak = new DigitalInput(RobotMap.COLLECTOR_ENTRY_BEAMBREAK);
   }