Climber

team4909 · Feb 8, 2025 · 9ea48d1 · 9ea48d1
1 parent 8f37a04
commit 9ea48d1
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Showing 3 changed files with 21 additions and 12 deletions.
diff --git a/src/main/deploy/pathplanner/paths/TAXI.path b/src/main/deploy/pathplanner/paths/TAXI.path
@@ -3,25 +3,25 @@
   "waypoints": [
     {
       "anchor": {
-        "x": 7.418338815789473,
-        "y": 4.077589897260274
+        "x": 7.476069078947368,
+        "y": 3.9095394736842106
       },
       "prevControl": null,
       "nextControl": {
-        "x": 6.180382856313421,
-        "y": 4.077589897260274
+        "x": 6.238113119471316,
+        "y": 3.9095394736842106
       },
       "isLocked": false,
       "linkedName": null
     },
     {
       "anchor": {
-        "x": 5.753782894736841,
-        "y": 4.077589897260274
+        "x": 5.724917763157895,
+        "y": 3.9095394736842106
       },
       "prevControl": {
-        "x": 7.122440525396381,
-        "y": 4.077589897260274
+        "x": 7.093575393817434,
+        "y": 3.9095394736842106
       },
       "nextControl": null,
       "isLocked": false,

diff --git a/src/main/java/frc/robot/subsystems/Climber/ClimberIOTalonFX.java b/src/main/java/frc/robot/subsystems/Climber/ClimberIOTalonFX.java
@@ -1,8 +1,10 @@
 package frc.robot.subsystems.Climber;
 
+import com.ctre.phoenix6.configs.MotorOutputConfigs;
 import com.ctre.phoenix6.configs.TalonFXConfiguration;
 import com.ctre.phoenix6.controls.DutyCycleOut;
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
 import com.ctre.phoenix6.signals.NeutralModeValue;
 
 public class ClimberIOTalonFX implements ClimberIO {
@@ -12,10 +14,14 @@ public ClimberIOTalonFX() {
     m_Climbermotor = new TalonFX(20, "CANivore2");
 
     final TalonFXConfiguration climberMotorConfig = new TalonFXConfiguration();
+    final MotorOutputConfigs outputConfigs = new MotorOutputConfigs();
+
+    outputConfigs.NeutralMode = NeutralModeValue.Brake;
     climberMotorConfig.CurrentLimits.SupplyCurrentLimit = 40.0;
     climberMotorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
 
     m_Climbermotor.getConfigurator().apply(climberMotorConfig);
+    m_Climbermotor.getConfigurator().apply(outputConfigs);dfcv 
   }
 
   @Override

diff --git a/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java b/src/main/java/frc/robot/subsystems/elevator/ElevatorIOTalonFX.java
@@ -40,9 +40,11 @@ public ElevatorIOTalonFX() {
         m_request = new PositionVoltage(0).withSlot(0);
 
         final TalonFXConfiguration elevatorMotorConfig = new TalonFXConfiguration();
-        final MotorOutputConfigs outputConfigs = new MotorOutputConfigs();
-        outputConfigs.Inverted = InvertedValue.Clockwise_Positive;
-        outputConfigs.NeutralMode = NeutralModeValue.Brake;
+        final MotorOutputConfigs rightOutputConfigs = new MotorOutputConfigs();
+        final MotorOutputConfigs leftOutputConfigs = new MotorOutputConfigs();
+        rightOutputConfigs.Inverted = InvertedValue.Clockwise_Positive;
+        rightOutputConfigs.NeutralMode = NeutralModeValue.Brake;
+        leftOutputConfigs.NeutralMode = NeutralModeValue.Brake;
         elevatorMotorConfig.CurrentLimits.SupplyCurrentLimit = 40.0;
         elevatorMotorConfig.CurrentLimits.SupplyCurrentLimitEnable = true;
         // in init function, set slot 0 gains
@@ -55,7 +57,8 @@ public ElevatorIOTalonFX() {
         m_right.setPosition(29 * (0.5 * (1d / (1.75100 * Math.PI)) * ( 2d / 3d ) * 25));
         m_left.getConfigurator().apply(elevatorMotorConfig);
         m_right.getConfigurator().apply(elevatorMotorConfig);
-        m_right.getConfigurator().apply(outputConfigs);
+        m_right.getConfigurator().apply(rightOutputConfigs);
+        m_left.getConfigurator().apply(leftOutputConfigs);
         m_left.getConfigurator().apply(slot0Configs);
         m_right.getConfigurator().apply(slot0Configs);
         m_left.setControl(new Follower(22, true));