fxs

Author: ds12a

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2025.1.1"
+    id "edu.wpi.first.GradleRIO" version "2025.2.1"
     id "com.diffplug.spotless" version "6.12.1"
     id "com.peterabeles.gversion" version "1.10"
 }

src/main/java/frc/robot/constants/CoralConstants.java

@@ -1,13 +1,15 @@
 package frc.robot.constants;
 
 import static edu.wpi.first.units.Units.DegreesPerSecond;
+import static edu.wpi.first.units.Units.Rotations;
+import static edu.wpi.first.units.Units.RotationsPerSecond;
 
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 import com.ctre.phoenix6.configs.HardwareLimitSwitchConfigs;
 import com.ctre.phoenix6.configs.MotionMagicConfigs;
 import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.Slot0Configs;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.configs.TalonFXSConfiguration;
 import com.ctre.phoenix6.signals.ForwardLimitSourceValue;
 import com.ctre.phoenix6.signals.ForwardLimitTypeValue;
 import com.ctre.phoenix6.signals.GravityTypeValue;
@@ -19,11 +21,11 @@
 public class CoralConstants {
   public static int kCoralFxId = 0;
 
-  public static final AngularVelocity kCloseEnough = DegreesPerSecond.of(5);
+  public static final AngularVelocity kCloseEnough = RotationsPerSecond.of(0.1);
 
   // Coral Talon FX Config
-  public static TalonFXConfiguration getFXConfig() {
-    TalonFXConfiguration fxConfig = new TalonFXConfiguration();
+  public static TalonFXSConfiguration getFXConfig() {
+    TalonFXSConfiguration fxsConfig = new TalonFXSConfiguration();
 
     CurrentLimitsConfigs current =
         new CurrentLimitsConfigs()
@@ -34,7 +36,7 @@ public static TalonFXConfiguration getFXConfig() {
             .withSupplyCurrentLowerLimit(8)
             .withSupplyCurrentLowerTime(0.02)
             .withSupplyCurrentLimitEnable(true);
-    fxConfig.CurrentLimits = current;
+    fxsConfig.CurrentLimits = current;
 
     HardwareLimitSwitchConfigs hwLimit =
         new HardwareLimitSwitchConfigs()
@@ -46,7 +48,7 @@ public static TalonFXConfiguration getFXConfig() {
             .withReverseLimitEnable(false)
             .withReverseLimitType(ReverseLimitTypeValue.NormallyOpen)
             .withReverseLimitSource(ReverseLimitSourceValue.LimitSwitchPin);
-    fxConfig.HardwareLimitSwitch = hwLimit;
+    fxsConfig.HardwareLimitSwitch = hwLimit;
 
     Slot0Configs slot0 =
         new Slot0Configs()
@@ -58,7 +60,7 @@ public static TalonFXConfiguration getFXConfig() {
             .withKS(0)
             .withKV(0)
             .withKA(0);
-    fxConfig.Slot0 = slot0;
+    fxsConfig.Slot0 = slot0;
 
     MotionMagicConfigs motionMagic =
         new MotionMagicConfigs()
@@ -67,14 +69,14 @@ public static TalonFXConfiguration getFXConfig() {
             .withMotionMagicExpo_kA(0)
             .withMotionMagicExpo_kV(0)
             .withMotionMagicJerk(0);
-    fxConfig.MotionMagic = motionMagic;
+    fxsConfig.MotionMagic = motionMagic;
 
     MotorOutputConfigs motorOut =
         new MotorOutputConfigs()
             .withDutyCycleNeutralDeadband(0.01)
             .withNeutralMode(NeutralModeValue.Coast);
-    fxConfig.MotorOutput = motorOut;
+    fxsConfig.MotorOutput = motorOut;
 
-    return fxConfig;
+    return fxsConfig;
   }
 }

src/main/java/frc/robot/subsystems/coral/CoralIOFX.java

@@ -2,11 +2,12 @@
 
 import static edu.wpi.first.units.Units.DegreesPerSecond;
 
+import com.ctre.phoenix6.BaseStatusSignal;
 import com.ctre.phoenix6.StatusSignal;
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.configs.TalonFXConfigurator;
+import com.ctre.phoenix6.configs.TalonFXSConfiguration;
+import com.ctre.phoenix6.configs.TalonFXSConfigurator;
 import com.ctre.phoenix6.controls.MotionMagicVelocityDutyCycle;
-import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.hardware.TalonFXS;
 import com.ctre.phoenix6.signals.ForwardLimitValue;
 import com.ctre.phoenix6.signals.ReverseLimitValue;
 import edu.wpi.first.units.measure.AngularVelocity;
@@ -16,12 +17,11 @@
 import org.strykeforce.telemetry.TelemetryService;
 
 public class CoralIOFX implements CoralIO {
-  // private objects
   private Logger logger;
-  private TalonFX talonFx;
+  private TalonFXS talonFxs;
 
   // FX Access objects
-  TalonFXConfigurator configurator;
+  TalonFXSConfigurator configurator;
   private MotionMagicVelocityDutyCycle velocityRequest =
       new MotionMagicVelocityDutyCycle(0).withEnableFOC(false).withSlot(0);
   StatusSignal<AngularVelocity> curVelocity;
@@ -30,49 +30,50 @@ public class CoralIOFX implements CoralIO {
 
   public CoralIOFX() {
     logger = LoggerFactory.getLogger(this.getClass());
-    talonFx = new TalonFX(CoralConstants.kCoralFxId);
+    talonFxs = new TalonFXS(CoralConstants.kCoralFxId);
 
     // Config controller
-    configurator = talonFx.getConfigurator();
-    configurator.apply(new TalonFXConfiguration()); // Factory default motor controller
+    configurator = talonFxs.getConfigurator();
+    configurator.apply(new TalonFXSConfiguration()); // Factory default motor controller
     configurator.apply(CoralConstants.getFXConfig());
 
     // Attach status signals
-    curVelocity = talonFx.getVelocity();
-    fwdLimitSwitch = talonFx.getForwardLimit();
-    revLimitSwitch = talonFx.getReverseLimit();
+    curVelocity = talonFxs.getVelocity();
+    fwdLimitSwitch = talonFxs.getForwardLimit();
+    revLimitSwitch = talonFxs.getReverseLimit();
   }
 
   @Override
   public void setVelocity(AngularVelocity velocity) {
     logger.info("Setting velocity to {} degrees per second", velocity.in(DegreesPerSecond));
 
-    talonFx.setControl(velocityRequest.withVelocity(velocity));
+    talonFxs.setControl(velocityRequest.withVelocity(velocity));
   }
 
   @Override
   public void enableFwdLimitSwitch(boolean enabled) {
-    talonFx
+    talonFxs
         .getConfigurator()
         .apply(CoralConstants.getFXConfig().HardwareLimitSwitch.withForwardLimitEnable(enabled));
   }
 
   @Override
   public void enableRevLimitSwitch(boolean enabled) {
-    talonFx
+    talonFxs
         .getConfigurator()
         .apply(CoralConstants.getFXConfig().HardwareLimitSwitch.withReverseLimitEnable(enabled));
   }
 
   @Override
   public void updateInputs(CoralIOInputs inputs) {
-    inputs.velocity = curVelocity.refresh().getValue();
+    BaseStatusSignal.refreshAll(curVelocity, fwdLimitSwitch, revLimitSwitch);
+    inputs.velocity = curVelocity.getValue();
     inputs.isFwdLimitSwitchClosed = fwdLimitSwitch.refresh().getValue().value == 1;
     inputs.isRevLimitSwitchClosed = revLimitSwitch.refresh().getValue().value == 0;
   }
 
   @Override
   public void registerWith(TelemetryService telemetryService) {
-    telemetryService.register(talonFx, true);
+    telemetryService.register(talonFxs, true);
   }
 }

src/main/java/frc/robot/subsystems/coral/CoralSubsystem.java

@@ -51,7 +51,7 @@ public boolean isBeamBroken() {
   public void periodic() {
     // Read Inputs
     io.updateInputs(inputs);
-
+    
     // State Machine
     switch (curState) {
       case INIT: