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Merged
jaymendo670-png merged 11 commits into from
May 23, 2026
+160 −4
Merged

create_rotors_subsystem #3

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7735d20
I created roters subsytem
FRCTeam3255-Shared-K1-10 May 17, 2026
815d856
Fixed names and call functions
FRCTeam3255-Shared-K1-10 May 23, 2026
610abdc
Removed "Rollers" for flywheels
FRCTeam3255-Shared-K1-10 May 23, 2026
8bf01f4
Added "set" to setter functions
FRCTeam3255-Shared-K1-10 May 23, 2026
f095185
changed device IDs to reflect comp robot
FRCTeam3255-Shared-K1-10 May 23, 2026
d8873c6
Merge branch 'main' into create-rotor-subsystem
FRCTeam3255-Shared-K1-10 May 23, 2026
c7f2733
create_rotors-subsystem
FRCTeam3255-Shared-K1-10 May 23, 2026
e689412
create rotors
FRCTeam3255-Shared-K1-10 May 23, 2026
72ec09c
create_rotor_subsystem
FRCTeam3255-Shared-K1-10 May 23, 2026
48a1175
created roters subsystem
FRCTeam3255-Shared-K1-10 May 23, 2026
272afd1
Create rotor subsystem
FRCTeam3255-Shared-K1-10 May 23, 2026
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10 changes: 9 additions & 1 deletion src/main/java/frc/robot/DeviceIDs.java
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Expand Up @@ -38,7 +38,15 @@ public static class drivetrainIDs {

// Rotor and Motion IDs: 10~29
public static class rotorIDs {

public static final int SERIALIZER_ROLLERS_CAN = 10;
public static final int INTAKE_ROLLERS_WEST_CAN = 11;
public static final int INTAKE_ROLLERS_EAST_CAN = 18;
public static final int TRANSFER_ROLLERS_WEST_CAN = 13;
public static final int TRANSFER_ROLLERS_EAST_CAN = 12;
public static final int FLYWHEEL_TOP_WEST_CAN = 15;
public static final int FLYWHEEL_TOP_EAST_CAN = 14;
public static final int FLYWHEEL_BOTTOM_WEST_CAN = 17;
public static final int FLYWHEEL_BOTTOM_EAST_CAN = 16;
}

// Motion Profile IDs: 30~49
Expand Down
57 changes: 57 additions & 0 deletions src/main/java/frc/robot/constants/ConstRotors.java
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Expand Up @@ -4,7 +4,64 @@

package frc.robot.constants;

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.fasterxml.jackson.core.filter.TokenFilter.Inclusion;

/** Add your docs here. */
public class ConstRotors {

public static final TalonFXConfiguration SERIALIZER_ROLLERS_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration INTAKE_ROLLERS_EAST_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration INTAKE_ROLLERS_WEST_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration TRANSFER_ROLLERS_EAST_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration TRANSFER_ROLLERS_WEST_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration FLYWHEEL_EAST_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration FLYWHEEL_WEST_CONFIGURATION = new TalonFXConfiguration();

static {

// SHOOTER_TRANSFER_EAST_CONFIGURATION.MotorOutput.NeutralMode =
// NeutralModeValue.Coast;/

FLYWHEEL_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
FLYWHEEL_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
FLYWHEEL_WEST_CONFIGURATION.CurrentLimits.SupplyCurrentLimitEnable = true;
FLYWHEEL_WEST_CONFIGURATION.CurrentLimits.SupplyCurrentLowerLimit = 35;

FLYWHEEL_EAST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
FLYWHEEL_EAST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
FLYWHEEL_EAST_CONFIGURATION.CurrentLimits.SupplyCurrentLimitEnable = true;
FLYWHEEL_EAST_CONFIGURATION.CurrentLimits.SupplyCurrentLowerLimit = 35;

SERIALIZER_ROLLERS_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
SERIALIZER_ROLLERS_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
SERIALIZER_ROLLERS_CONFIGURATION.CurrentLimits.SupplyCurrentLimitEnable = true;
SERIALIZER_ROLLERS_CONFIGURATION.CurrentLimits.SupplyCurrentLowerLimit = 35;

INTAKE_ROLLERS_EAST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
INTAKE_ROLLERS_EAST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
INTAKE_ROLLERS_EAST_CONFIGURATION.CurrentLimits.SupplyCurrentLimitEnable = true;
INTAKE_ROLLERS_EAST_CONFIGURATION.CurrentLimits.SupplyCurrentLowerLimit = 35;

INTAKE_ROLLERS_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
INTAKE_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
INTAKE_ROLLERS_WEST_CONFIGURATION.CurrentLimits.SupplyCurrentLimitEnable = true;
INTAKE_ROLLERS_WEST_CONFIGURATION.CurrentLimits.SupplyCurrentLowerLimit = 35;

TRANSFER_ROLLERS_EAST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
TRANSFER_ROLLERS_EAST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
TRANSFER_ROLLERS_EAST_CONFIGURATION.CurrentLimits.SupplyCurrentLimitEnable = true;
TRANSFER_ROLLERS_EAST_CONFIGURATION.CurrentLimits.SupplyCurrentLowerLimit = 35;

TRANSFER_ROLLERS_WEST_CONFIGURATION.MotorOutput.NeutralMode = NeutralModeValue.Coast;
TRANSFER_ROLLERS_WEST_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
TRANSFER_ROLLERS_WEST_CONFIGURATION.CurrentLimits.SupplyCurrentLimitEnable = true;
TRANSFER_ROLLERS_WEST_CONFIGURATION.CurrentLimits.SupplyCurrentLowerLimit = 35;

}

public static final double STOP = 0;

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@Wu-Fan-529 Wu-Fan-529 May 23, 2026 •
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all of your configurations are empty, you need to add:

    CONFIG.MotorOutput.NeutralMode = NeutralModeValue.Brake;

    CONFIG.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;

    CONFIG.CurrentLimits.SupplyCurrentLimitEnable = true;

    CONFIG.CurrentLimits.SupplyCurrentLowerLimit = 35;

for all configurators

}
97 changes: 94 additions & 3 deletions src/main/java/frc/robot/subsystems/Rotors.java
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Expand Up @@ -4,17 +4,108 @@

package frc.robot.subsystems;

import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.epilogue.Logged;
import edu.wpi.first.units.Units;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.DeviceIDs.rotorIDs;
import frc.robot.Robot;
import frc.robot.constants.ConstRotors;

@Logged
public class Rotors extends SubsystemBase {
/** Creates a new Rotors. */

final TalonFX serializerRollers = new TalonFX(rotorIDs.SERIALIZER_ROLLERS_CAN);
final TalonFX intakeRollersWest = new TalonFX(rotorIDs.INTAKE_ROLLERS_WEST_CAN);
final TalonFX intakeRollersEast = new TalonFX(rotorIDs.INTAKE_ROLLERS_EAST_CAN);
final TalonFX transferRollersWest = new TalonFX((rotorIDs.TRANSFER_ROLLERS_WEST_CAN));
final TalonFX transferRollersEast = new TalonFX((rotorIDs.TRANSFER_ROLLERS_EAST_CAN));
final TalonFX flywheelTopWest = new TalonFX((rotorIDs.FLYWHEEL_TOP_WEST_CAN));
final TalonFX flywheelTopEast = new TalonFX((rotorIDs.FLYWHEEL_TOP_EAST_CAN));
final TalonFX flywheelBottomWest = new TalonFX((rotorIDs.FLYWHEEL_BOTTOM_WEST_CAN));
final TalonFX flywheelBottomEast = new TalonFX((rotorIDs.FLYWHEEL_BOTTOM_EAST_CAN));
AngularVelocity lastDesiredFlyWheelSpeed = Units.RPM.of(0);
AngularVelocity lastDesiredTransferRollersSpeed = Units.RPM.of(0);
Follower flywheelEastFollower = new Follower(flywheelTopEast.getDeviceID(), false);
Follower flywheelWestFollower = new Follower(flywheelTopEast.getDeviceID(), true);
Follower transferRollersEastFollower = new Follower(intakeRollersEast.getDeviceID(), true);
Follower intakeRollerEastFollower = new Follower(intakeRollersEast.getDeviceID(), true);
private boolean flyWheelAtSpeed = false;
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// private boolean intakeRollersAtSpeed = false;/

public Rotors() {
serializerRollers.getConfigurator().apply(ConstRotors.SERIALIZER_ROLLERS_CONFIGURATION);
intakeRollersEast.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_EAST_CONFIGURATION);
intakeRollersWest.getConfigurator().apply(ConstRotors.INTAKE_ROLLERS_WEST_CONFIGURATION);
transferRollersEast.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_EAST_CONFIGURATION);
transferRollersWest.getConfigurator().apply(ConstRotors.TRANSFER_ROLLERS_WEST_CONFIGURATION);
flywheelTopEast.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
flywheelTopWest.getConfigurator().apply(ConstRotors.FLYWHEEL_WEST_CONFIGURATION);
flywheelBottomEast.getConfigurator().apply(ConstRotors.FLYWHEEL_EAST_CONFIGURATION);
flywheelBottomWest.getConfigurator().apply(ConstRotors.FLYWHEEL_WEST_CONFIGURATION);
}

// final MotionMagicVelocityVoltage TransferVelocityRequest = new
// MotionMagicVelocityVoltage(0);/
final MotionMagicVelocityVoltage flyWheelVelocityRequest = new MotionMagicVelocityVoltage(0);

public AngularVelocity getFlyWheelSpeeds() {
if (Robot.isSimulation()) {
return lastDesiredFlyWheelSpeed;
}
return flywheelTopEast.getVelocity().getValue();
}

public AngularVelocity getSerializerRollersVelocity() {
return serializerRollers.getVelocity().getValue();
}

public AngularVelocity getIntakeRollersVelocity() {
return intakeRollersEast.getVelocity().getValue();
}

public AngularVelocity getTransferRollersVelocity() {
return transferRollersEast.getVelocity().getValue();
}

public void setSerializerRollersSpeed(double speed) {
serializerRollers.set(speed);
}

public void setIntakeRollersSpeeds(double speed) {
intakeRollersEast.set(speed);
intakeRollersWest.setControl(intakeRollerEastFollower);
}

public void setTransferRollersSpeeds(double speed) {
transferRollersEast.set(speed);
transferRollersWest.setControl(transferRollersEastFollower);
}

public void setFlywheelSpeeds(AngularVelocity speed) {
flywheelTopEast.setControl(flyWheelVelocityRequest.withVelocity(speed));
flywheelTopWest.setControl(flywheelWestFollower);
flywheelBottomWest.setControl(flywheelWestFollower);
flywheelBottomEast.setControl(flywheelEastFollower);
lastDesiredFlyWheelSpeed = speed;
}

public boolean isFlyWheelAtSpeed(AngularVelocity tolerance) {
AngularVelocity lowerLim = lastDesiredFlyWheelSpeed.minus(tolerance);
AngularVelocity upperLim = lastDesiredFlyWheelSpeed.plus(tolerance);

AngularVelocity flyWheelSpeed = getFlyWheelSpeeds();

flyWheelAtSpeed = flyWheelSpeed.gte(lowerLim)
&& flyWheelSpeed.lte(upperLim);
return flyWheelAtSpeed;

}

@Override
public void periodic() {
// This method will be called once per scheduler run

}
}
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