Initial Elevator #7
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| // FX Access objects | ||
| TalonFXConfigurator configuratorLeft; | ||
| TalonFXConfigurator configuratorRight; | ||
| StatusSignal<Double> currVelocites; |
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The elevator is going to primarily be controlled on position not velocity - we will probably want something like mainPosition and followPosition in the inputs
Can leave a velocity if desired (and using the left main one makes sense) but will need to add positions
| configuratorRight.apply(ElevatorConstants.getRightFXConfig());; | ||
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| // Attach status signals | ||
| currVelocites = talonFxLeft.getVelocity(); |
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Add both positions here as status signals
| public void updateInputs(ExiterIOInputs inputs) { | ||
| inputs.velocityLeft = currLeftVelocity.refresh().getValue(); | ||
| inputs.velocityRight = currRightVelocity.refresh().getValue(); | ||
| inputs.velocites = currVelocites.refresh().getValue(); |
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use BaseStatusSignal.refreshAll() syntax to reduce CAN bus calls - see example subsystem
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Add in the absolute position from the analog input here to the inputs
| // private MotionMagicVelocityVoltage velocityRequests = | ||
| // new MotionMagicVelocityVoltage; | ||
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| public ExiterIOFX() { |
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Will need to add a zero() method to the I/O layer
This subsystem is going to zero using an analog input that gives us the position of the final stage - the analog input can be read, compared to a constant and used to write to the position of both talonFX's
| return Set.of(); | ||
| } | ||
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| public double getSpeeds() { |
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Will not need a getSpeeds() or atSpeed() methods for the elevator as it is position-based
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