From ee7d0b7189d5e5c3f0cc2000c7ca889b73984192 Mon Sep 17 00:00:00 2001 From: Brandon Date: Sat, 2 Mar 2024 23:25:35 -0800 Subject: [PATCH 1/3] renamed constants --- src/main/java/org/carlmontrobotics/Constants.java | 4 ++-- src/main/java/org/carlmontrobotics/subsystems/Arm.java | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index ce95aaa1..4158697b 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -37,8 +37,8 @@ public static final class Arm { public static final int ARM_MOTOR_PORT_MASTER = 7; public final static int ARM_MOTOR_PORT_FOLLOWER = 8; //Config for motors - public static final boolean MOTOR_INVERTED_1 = true; //Todo: find all these (they are definetely wrong) - public static final boolean MOTOR_INVERTED_2 = false; + public static final boolean MOTOR_INVERTED_MASTER = true; //Todo: find all these (they are definetely wrong) + public static final boolean MOTOR_INVERTED_FOLLOWER = false; public static final double ROTATION_TO_RAD = 2 * Math.PI; public static final boolean ENCODER_INVERTED = false; public static final double ARM_TELEOP_MAX_GOAL_DIFF_FROM_CURRENT_RAD = 0; diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java index 9c3ba105..dab0ce77 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Arm.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Arm.java @@ -71,9 +71,9 @@ public class Arm extends SubsystemBase { public Arm() { // weird math stuff - armMotorMaster.setInverted(MOTOR_INVERTED_1); + armMotorMaster.setInverted(MOTOR_INVERTED_MASTER); armMotorMaster.setIdleMode(IdleMode.kBrake); - armMotorFollower.setInverted(MOTOR_INVERTED_2); + armMotorFollower.setInverted(MOTOR_INVERTED_FOLLOWER); armMotorFollower.setIdleMode(IdleMode.kBrake); armMasterEncoder.setPositionConversionFactor(ROTATION_TO_RAD); From 42216a15eb46bd4316154ea5ee3a08b76642f4fb Mon Sep 17 00:00:00 2001 From: Sofie Budman <105175854+sofiebudman@users.noreply.github.com> Date: Sat, 2 Mar 2024 23:25:43 -0800 Subject: [PATCH 2/3] got rid of extra setvoltage --- src/main/java/org/carlmontrobotics/subsystems/Arm.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/java/org/carlmontrobotics/subsystems/Arm.java b/src/main/java/org/carlmontrobotics/subsystems/Arm.java index 9c3ba105..98176d30 100644 --- a/src/main/java/org/carlmontrobotics/subsystems/Arm.java +++ b/src/main/java/org/carlmontrobotics/subsystems/Arm.java @@ -192,7 +192,7 @@ public void resetGoal() { } public void driveMotor(Measure volts) { armMotorMaster.setVoltage(volts.in(Volts)); - armMotorFollower.setVoltage(volts.in(Volts)); + } public void logMotor(SysIdRoutineLog log) { log.motor("armMotorMaster") From dc02eae3a8a9d901fe6e14f0c1b657a8de07305d Mon Sep 17 00:00:00 2001 From: Sofie Budman <105175854+sofiebudman@users.noreply.github.com> Date: Sat, 2 Mar 2024 23:26:53 -0800 Subject: [PATCH 3/3] got rid of comment --- src/main/java/org/carlmontrobotics/Constants.java | 7 +------ 1 file changed, 1 insertion(+), 6 deletions(-) diff --git a/src/main/java/org/carlmontrobotics/Constants.java b/src/main/java/org/carlmontrobotics/Constants.java index 4158697b..3ddc5429 100644 --- a/src/main/java/org/carlmontrobotics/Constants.java +++ b/src/main/java/org/carlmontrobotics/Constants.java @@ -26,12 +26,7 @@ public static final class Drivetrain { public static final class Arm { - //ports -//config for motors (inverted, encoder offset, etc) -//goal positions -//feedforward, pid, trapezoid constants -//Boundaries (arm cannot go beyond certain angles) -//Controller buttons should go in OI not Arm + //Motor port public static final int ARM_MOTOR_PORT_MASTER = 7;