Initial Biscuit Subsystem #1
Conversation
mwitcpalek
left a comment
mwitcpalek
left a comment
There was a problem hiding this comment.
Review comments
| return talonFXConfiguration; | ||
| } | ||
|
|
||
| // These are all wrong right now because we don't have any actual info |
There was a problem hiding this comment.
move these above the talonFXconfig getter for consistency across constants files
| // public static Angle Level1 = ; | ||
|
|
||
| // Disables the TalonFX by setting it's voltage to zero. Not very shocking. | ||
| public static TalonFXConfiguration disableTalon() { |
There was a problem hiding this comment.
I don't think we needed to disable the fwd limit switch as part of disabling output if it wasn't in a safe region
This could just return a VoltageConfig instead of a full talon config - if you don't change you should get your talonFX config from the one above and just modify the voltage config, not start from a blank one
|
|
||
| public class BiscuitConstants { | ||
|
|
||
| public static TalonFXConfiguration talonConfiguration() { |
There was a problem hiding this comment.
Is this a duplicate of line 53? If so get rid of this
| } | ||
|
|
||
| public void setPosition(Angle position) { | ||
| setPoint = position.plus(BiscuitConstants.kZero); |
There was a problem hiding this comment.
Now that we have an encoder 1:1 we can actually write to the encoder in the talonFX so we don't actually have to save off zeroed position and use that as an offset
| public void updateInputs(BiscuitIOInputs inputs) { | ||
| BaseStatusSignal.refreshAll(velocity, position, fwdLimitSwitch); | ||
| inputs.velocity = velocity.getValue(); | ||
| inputs.position = position.getValue().minus(BiscuitConstants.kZero); |
There was a problem hiding this comment.
should be able to convert this to just getValue()
| public void zero() { | ||
| didZero = false; | ||
| if (fwdLimitSwitchOpen == true) { | ||
| Angle pos = position.getValue(); |
There was a problem hiding this comment.
We can actually write to the encoder position now so need to add subtraction logic based on zero constant and current pos from a remote encoder
Right now you have no way to get that remote encoder (we need new SW api) so just use get position for now
|
|
||
| @Override | ||
| public void periodic() { | ||
| io.updateInputs(inputs); |
There was a problem hiding this comment.
need to add processInputs()
There was a problem hiding this comment.
Add logging of the current setpoint to the periodic - see example subsystem for a reference
Put them under "Biscuit/"
| return Set.of(new Measure("Is Biscuit Finished", () -> isFinished() ? 1.0 : 0.0)); | ||
| } | ||
|
|
||
| public void zero() { |
There was a problem hiding this comment.
May want to use your "didZero" in the i/o layer for passing info up to robotState
No description provided.