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CameronMyhreCameronMyhre
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Merge pull request #55 from Team537/release/v1.4.0
Release/v1.4.0
2 parents 27c53b9 + 115ea64 commit c602603

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‎src/main/java/frc/robot/Configs.java‎

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package frc.robot;
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import com.ctre.phoenix6.configs.TalonFXConfiguration;
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import com.revrobotics.spark.config.ClosedLoopConfig.FeedbackSensor;
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import com.revrobotics.spark.config.SparkMaxConfig;
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import frc.robot.Constants.DriveConstants;
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public final class Configs {
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public static final class Swerve {
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public static final class Driving {
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// Driving Configs
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public static final SparkMaxConfig NEO_DRIVING_CONFIG = new SparkMaxConfig();
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public static final TalonFXConfiguration KRAKEN_X60_CONFIGURATION = new TalonFXConfiguration();
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public static final TalonFXConfiguration KRAKEN_X60_FOC_CONFIGURATION = new TalonFXConfiguration();
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static {
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// --- NEO DRIVING CONFIG ---
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// Configure encoder settings
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NEO_DRIVING_CONFIG.encoder
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.positionConversionFactor(DriveConstants.NeoDriving.ENCODER_POSITION_FACTOR)
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.velocityConversionFactor(DriveConstants.NeoDriving.ENCODER_VELOCITY_FACTOR);
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// Configure PIDF control loop
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NEO_DRIVING_CONFIG.closedLoop
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.feedbackSensor(FeedbackSensor.kPrimaryEncoder)
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.pidf(DriveConstants.NeoDriving.KP, DriveConstants.NeoDriving.KI,
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DriveConstants.NeoDriving.KD, DriveConstants.NeoDriving.FF)
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.outputRange(DriveConstants.NeoDriving.PID_MIN_OUTPUT,
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DriveConstants.NeoDriving.PID_MAX_OUTPUT);
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// Configure motor settings
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NEO_DRIVING_CONFIG
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.idleMode(DriveConstants.NeoDriving.IDLE_MODE)
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.smartCurrentLimit(DriveConstants.NeoDriving.CURRENT_LIMIT);
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// --- KRAKEN X60 DRIVING CONFIG ---
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KRAKEN_X60_CONFIGURATION
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.Feedback.SensorToMechanismRatio = DriveConstants.KrakenX60Driving.SENSOR_TO_MECHANISM_RATIO;
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KRAKEN_X60_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLimitEnable = DriveConstants.KrakenX60Driving.CURRENT_LIMIT_ENABLED;
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KRAKEN_X60_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLimit = DriveConstants.KrakenX60Driving.CURRENT_LIMIT;
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KRAKEN_X60_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLowerLimit = DriveConstants.KrakenX60Driving.CURRENT_LOWER_LIMIT;
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KRAKEN_X60_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLowerTime = DriveConstants.KrakenX60Driving.CURRENT_LOWER_TIME;
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KRAKEN_X60_CONFIGURATION
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.Slot0
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.kP = DriveConstants.KrakenX60Driving.KP;
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KRAKEN_X60_CONFIGURATION
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.Slot0
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.kI = DriveConstants.KrakenX60Driving.KI;
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KRAKEN_X60_CONFIGURATION
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.Slot0
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.kD = DriveConstants.KrakenX60Driving.KD;
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KRAKEN_X60_CONFIGURATION
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.Slot0
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.kV = DriveConstants.KrakenX60Driving.KV;
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KRAKEN_X60_CONFIGURATION
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.Slot0
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.kA = DriveConstants.KrakenX60Driving.KA;
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KRAKEN_X60_CONFIGURATION
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.MotorOutput
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.NeutralMode = DriveConstants.KrakenX60Driving.NEUTRAL_MODE;
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// --- KRAKEN X60 FOC DRIVING CONFIG ---
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KRAKEN_X60_FOC_CONFIGURATION
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.Feedback.SensorToMechanismRatio = DriveConstants.KrakenX60FOCDriving.SENSOR_TO_MECHANISM_RATIO;
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KRAKEN_X60_FOC_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLimitEnable = DriveConstants.KrakenX60FOCDriving.CURRENT_LIMIT_ENABLED;
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KRAKEN_X60_FOC_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLimit = DriveConstants.KrakenX60FOCDriving.CURRENT_LIMIT;
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KRAKEN_X60_FOC_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLowerLimit = DriveConstants.KrakenX60FOCDriving.CURRENT_LOWER_LIMIT;
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KRAKEN_X60_FOC_CONFIGURATION
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.CurrentLimits
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.SupplyCurrentLowerTime = DriveConstants.KrakenX60FOCDriving.CURRENT_LOWER_TIME;
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KRAKEN_X60_FOC_CONFIGURATION
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.Slot0
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.kP = DriveConstants.KrakenX60FOCDriving.KP;
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KRAKEN_X60_FOC_CONFIGURATION
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.Slot0
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.kI = DriveConstants.KrakenX60FOCDriving.KI;
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KRAKEN_X60_FOC_CONFIGURATION
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.Slot0
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.kD = DriveConstants.KrakenX60FOCDriving.KD;
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KRAKEN_X60_FOC_CONFIGURATION
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.Slot0
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.kV = DriveConstants.KrakenX60FOCDriving.KV;
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KRAKEN_X60_FOC_CONFIGURATION
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.Slot0
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.kA = DriveConstants.KrakenX60FOCDriving.KA;
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KRAKEN_X60_FOC_CONFIGURATION
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.MotorOutput
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.NeutralMode = DriveConstants.KrakenX60FOCDriving.NEUTRAL_MODE;
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}
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}
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public static final class Turning {
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// Turning Configs
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public static final SparkMaxConfig NEO_550_TURNING_CONFIG = new SparkMaxConfig();
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static {
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// --- NEO 550 TURNING CONFIG ---
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// Configure absolute encoder settings
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NEO_550_TURNING_CONFIG.absoluteEncoder
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.positionConversionFactor(DriveConstants.Neo550Turning.ENCODER_POSITION_FACTOR)
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.velocityConversionFactor(DriveConstants.Neo550Turning.ENCODER_VELOCITY_FACTOR)
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.inverted(DriveConstants.Neo550Turning.ENCODER_INVERTED);
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// Configure PID control loop
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NEO_550_TURNING_CONFIG.closedLoop
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.feedbackSensor(FeedbackSensor.kAbsoluteEncoder)
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.pid(DriveConstants.Neo550Turning.KP, DriveConstants.Neo550Turning.KI, DriveConstants.Neo550Turning.KD)
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.outputRange(DriveConstants.Neo550Turning.PID_MIN_OUTPUT, DriveConstants.Neo550Turning.PID_MAX_OUTPUT)
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.positionWrappingEnabled(true)
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.positionWrappingInputRange(DriveConstants.Neo550Turning.POSITION_PID_MIN_INPUT,
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DriveConstants.Neo550Turning.POSITION_PID_MAX_INPUT);
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// Configure motor settings
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NEO_550_TURNING_CONFIG
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.idleMode(DriveConstants.Neo550Turning.IDLE_MODE)
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.smartCurrentLimit(DriveConstants.Neo550Turning.CURRENT_LIMIT);
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}
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}
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}
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public static final class Squid {
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}
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public static final class Narwhal {
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}
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}

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