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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,38 @@ | ||
| package frc.robot.climber; | ||
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| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import org.littletonrobotics.junction.Logger; | ||
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| public class Climber extends SubsystemBase { | ||
| private final ClimberIO m_climberIO; | ||
| private final ClimberIOInputsAutoLogged m_inputs = new ClimberIOInputsAutoLogged(); | ||
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| public Climber(ClimberIO climberIO) { | ||
| m_climberIO = climberIO; | ||
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| setDefaultCommand(idle()); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| m_climberIO.updateInputs(m_inputs); | ||
| Logger.processInputs("ClimberInputs", m_inputs); | ||
| } | ||
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| public Command idle() { | ||
| return this.run( | ||
| () -> { | ||
| m_climberIO.setLeftDutyCycle(0.0); | ||
| m_climberIO.setRightDutyCycle(0.0); | ||
| }); | ||
| } | ||
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| public Command winchDown() { | ||
| return this.run( | ||
| () -> { | ||
| m_climberIO.setLeftDutyCycle(0.5); | ||
| m_climberIO.setRightDutyCycle(0.5); | ||
| }); | ||
| } | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,24 @@ | ||
| package frc.robot.climber; | ||
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| import org.littletonrobotics.junction.AutoLog; | ||
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| public interface ClimberIO { | ||
| @AutoLog | ||
| public class ClimberIOInputs { | ||
| public double leftWinchPositionRad = 0.0; | ||
| public double leftWinchVelocityRadPerSec = 0.0; | ||
| public double leftWinchAppliedVolts = 0.0; | ||
| public double leftWinchCurrentAmps = 0.0; | ||
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| public double rightWinchPositionRad = 0.0; | ||
| public double rightWinchVelocityRadPerSec = 0.0; | ||
| public double rightWinchAppliedVolts = 0.0; | ||
| public double rightWinchCurrentAmps = 0.0; | ||
| } | ||
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| public default void updateInputs(ClimberIOInputs inputs) {} | ||
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| public default void setLeftDutyCycle(double outputDutyCycle) {} | ||
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| public default void setRightDutyCycle(double outputDutyCycle) {} | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,50 @@ | ||
| package frc.robot.climber; | ||
|
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| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.RelativeEncoder; | ||
| import edu.wpi.first.math.util.Units; | ||
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| public class ClimberIOSparkMAX implements ClimberIO { | ||
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| private final double kWinchReduction = 1.0; | ||
| private final CANSparkMax m_leftWinchMotor, m_rightWinchMotor; | ||
| private final RelativeEncoder m_leftWinchEncoder, m_rightWinchEncoder; | ||
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| public ClimberIOSparkMAX() { | ||
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| m_leftWinchMotor = new CANSparkMax(8, CANSparkMax.MotorType.kBrushless); | ||
| m_rightWinchMotor = new CANSparkMax(9, CANSparkMax.MotorType.kBrushless); | ||
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| m_leftWinchEncoder = m_leftWinchMotor.getEncoder(); | ||
| m_rightWinchEncoder = m_rightWinchMotor.getEncoder(); | ||
| } | ||
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| @Override | ||
| public void updateInputs(ClimberIOInputs inputs) { | ||
| inputs.leftWinchPositionRad = | ||
| Units.rotationsToRadians(m_leftWinchEncoder.getPosition() / kWinchReduction); | ||
| inputs.leftWinchVelocityRadPerSec = | ||
| Units.rotationsToRadians(m_leftWinchEncoder.getVelocity() / kWinchReduction); | ||
| inputs.leftWinchAppliedVolts = | ||
| m_leftWinchMotor.getAppliedOutput() * m_leftWinchMotor.getBusVoltage(); | ||
| inputs.leftWinchCurrentAmps = m_leftWinchMotor.getOutputCurrent(); | ||
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| inputs.rightWinchPositionRad = | ||
| Units.rotationsToRadians(m_rightWinchEncoder.getPosition() / kWinchReduction); | ||
| inputs.rightWinchVelocityRadPerSec = | ||
| Units.rotationsToRadians(m_rightWinchEncoder.getVelocity() / kWinchReduction); | ||
| inputs.rightWinchAppliedVolts = | ||
| m_rightWinchMotor.getAppliedOutput() * m_rightWinchMotor.getBusVoltage(); | ||
| inputs.rightWinchCurrentAmps = m_rightWinchMotor.getOutputCurrent(); | ||
| } | ||
|
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| @Override | ||
| public void setLeftDutyCycle(double outputDutyCycle) { | ||
| m_leftWinchMotor.set(outputDutyCycle); | ||
| } | ||
|
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| @Override | ||
| public void setRightDutyCycle(double outputDutyCycle) { | ||
| m_rightWinchMotor.set(outputDutyCycle); | ||
| } | ||
| } |