switch feeder from duty cycle to voltage control

team4909 · Mar 8, 2024 · 9a185ec · 9a185ec
1 parent 34ec308
commit 9a185ec
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Showing 4 changed files with 11 additions and 16 deletions.
diff --git a/src/main/java/frc/robot/feeder/Feeder.java b/src/main/java/frc/robot/feeder/Feeder.java
@@ -30,7 +30,7 @@ public void periodic() {
   }
 
   public Command idle() {
-    return this.run(() -> m_io.setRollerSpeedDutyCycle(0.0));
+    return this.run(() -> m_io.setRollerSpeedVolts(0.0));
   }
 
   public Command stop() {
@@ -39,23 +39,23 @@ public Command stop() {
 
   public Command shoot() {
     return Commands.parallel(
-        this.run(() -> m_io.setRollerSpeedDutyCycle(-0.5)),
+        this.run(() -> m_io.setRollerSpeedVolts(-6.0)),
         Commands.waitUntil(hasNote.negate()).andThen(NoteVisualizer.shoot()));
   }
 
   public Command feed() {
-    return this.run(() -> m_io.setRollerSpeedDutyCycle(-0.35));
+    return this.run(() -> m_io.setRollerSpeedVolts(-4.2));
   }
 
   public Command spit() {
-    return this.run(() -> m_io.setRollerSpeedDutyCycle(1.0));
+    return this.run(() -> m_io.setRollerSpeedVolts(12.0));
   }
 
   public Command enterCoast() {
     return this.startEnd(() -> m_io.setBrakeMode(false), () -> m_io.setBrakeMode(true));
   }
 
   public Command pullBack() {
-    return this.run(() -> m_io.setRollerSpeedDutyCycle(0.25));
+    return this.run(() -> m_io.setRollerSpeedVolts(3.0));
   }
 }
diff --git a/src/main/java/frc/robot/feeder/FeederIO.java b/src/main/java/frc/robot/feeder/FeederIO.java
@@ -18,7 +18,7 @@ public static class FeederIOInputs {
 
   public default void updateInputs(FeederIOInputs inputs) {}
 
-  public default void setRollerSpeedDutyCycle(double dutyCycle) {}
+  public default void setRollerSpeedVolts(double volts) {}
 
   public default void setBrakeMode(boolean enableBrakeMode) {}
 

diff --git a/src/main/java/frc/robot/feeder/FeederIOSim.java b/src/main/java/frc/robot/feeder/FeederIOSim.java
@@ -23,7 +23,7 @@ public void updateInputs(FeederIOInputs inputs) {
   }
 
   @Override
-  public void setRollerSpeedDutyCycle(double dutyCycle) {
-    m_appliedVoltage = MathUtil.clamp(dutyCycle * 12.0, -12.0, 12.0);
+  public void setRollerSpeedVolts(double volts) {
+    m_appliedVoltage = MathUtil.clamp(volts, -12.0, 12.0);
   }
 }
diff --git a/src/main/java/frc/robot/feeder/FeederIOTalonFX.java b/src/main/java/frc/robot/feeder/FeederIOTalonFX.java
@@ -4,7 +4,6 @@
 import com.ctre.phoenix6.StatusCode;
 import com.ctre.phoenix6.StatusSignal;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 import edu.wpi.first.wpilibj.DigitalInput;
@@ -14,8 +13,6 @@ public class FeederIOTalonFX implements FeederIO {
   private final TalonFX m_feederMotor;
   private final DigitalInput m_topNoteSensor;
 
-  private final DutyCycleOut m_feederControl;
-
   private final StatusSignal<Double> m_rollerPositionSignal,
       m_rollerVelocitySignal,
       m_rollerAppliedVoltageSignal,
@@ -39,8 +36,6 @@ public FeederIOTalonFX() {
     BaseStatusSignal.setUpdateFrequencyForAll(
         50.0, m_rollerVelocitySignal, m_rollerAppliedVoltageSignal, m_rollerCurrentSignal);
     m_feederMotor.optimizeBusUtilization();
-
-    m_feederControl = new DutyCycleOut(0, false, false, false, false).withUpdateFreqHz(0.0);
   }
 
   @Override
@@ -61,8 +56,8 @@ public void updateInputs(FeederIOInputs inputs) {
   }
 
   @Override
-  public void setRollerSpeedDutyCycle(double volts) {
-    m_feederMotor.setControl(m_feederControl.withOutput(volts));
+  public void setRollerSpeedVolts(double volts) {
+    m_feederMotor.setVoltage(volts);
   }
 
   public void setBrakeMode(boolean enableBrakeMode) {
@@ -73,6 +68,6 @@ public void setBrakeMode(boolean enableBrakeMode) {
 
   @Override
   public void stopRoller() {
-    m_feederMotor.setControl(m_feederControl.withOutput(0.0));
+    m_feederMotor.setVoltage(0.0);
   }
 }