bump motor

vikings204 · Jan 24, 2024 · 9b281d6 · 9b281d6
1 parent 87ccf2e
commit 9b281d6
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Showing 3 changed files with 17 additions and 10 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -46,14 +46,15 @@ public static final class Shooter {
 
         public static final int shooterID_1 = 22;
         public static final int shooterID_2 = 25;
+        public static final int bumpID = 26;
 
 
         /* Swerve Current Limiting */
         public static final int angleContinuousCurrentLimit = 10;
         public static final int driveContinuousCurrentLimit = 10;
         public static final double voltageComp = 12.0;
 
-        public static final int speakerStrength = -1000;
+        public static final int speakerStrength = 5900;
         public static final int ampStrength = 2560;
         public static final int receive = 100;
 

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -48,9 +48,9 @@ public RobotContainer() {
                         ShooterSubsystem));
     }
     private void configureButtonBindings() {
-       // new JoystickButton(CONTROLLER, 5)
-        //.whileTrue(
-          //  new RunCommand(() -> ShooterSubsystem.receive(true), ShooterSubsystem));
+        new JoystickButton(CONTROLLER, 5)
+        .whileTrue(
+            new RunCommand(() -> ShooterSubsystem.receive(true), ShooterSubsystem));
     }
 
     public Command getAutonomousCommand() {

diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java
@@ -13,6 +13,7 @@
 public class ShooterSubsystem extends SubsystemBase {
     private final CANSparkMax shooterMotor_1;
     private final CANSparkMax shooterMotor_2;
+    private final CANSparkMax bumpMotor;
 
     private final RelativeEncoder shooterRelativeEncoder_1;
     private final RelativeEncoder shooterRelativeEncoder_2;
@@ -32,6 +33,8 @@ public ShooterSubsystem() {
         shooterMotor_2 = new CANSparkMax(Constants.Shooter.shooterID_2, MotorType.kBrushless);
         shooterRelativeEncoder_2 = shooterMotor_2.getEncoder();
         shooterPidController_2 = shooterMotor_2.getPIDController();
+
+        bumpMotor = new CANSparkMax(Constants.Shooter.shooterID_2, MotorType.kBrushless);
         configShooterMotors();
     }
 
@@ -66,6 +69,13 @@ private void configShooterMotors() {
         shooterMotor_2.enableVoltageCompensation(Constants.Shooter.voltageComp);
         shooterMotor_2.burnFlash();
         shooterRelativeEncoder_2.setPosition(0.0);
+
+        bumpMotor.restoreFactoryDefaults();
+        CANSparkMaxUtil.setCANSparkMaxBusUsage(bumpMotor, Usage.kAll);
+        bumpMotor.setSmartCurrentLimit(Constants.Shooter.driveContinuousCurrentLimit);
+        bumpMotor.setInverted(!Constants.Shooter.driveInvert);
+        bumpMotor.setIdleMode(Constants.Shooter.driveNeutralMode);
+        bumpMotor.burnFlash();
     }
 
     public void speakerShot(boolean shoot) {
@@ -108,12 +118,8 @@ public void ampShot(boolean shoot) {
     }
         public void receive(boolean shoot) {
         if (shoot) {
-            shooterPidController_1.setReference(
-                    Constants.Shooter.receive,
-                    ControlType.kVelocity);
-            shooterPidController_2.setReference(
-                    Constants.Shooter.receive,
-                    ControlType.kVelocity);
+            shooterMotor_1.set(-.15);
+            shooterMotor_2.set(-.15);
         } 
         else {
           //  shooterPidController_1.setReference(