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Migrate to Phoenix 6 #31
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jonahsnider
suggested changes
Aug 23, 2023
| : InvertedValue.CounterClockwise_Positive; | ||
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| motorConfig.CurrentLimits.SupplyCurrentLimit = 15; | ||
| motorConfig.CurrentLimits.SupplyCurrentLimit = 15; |
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this line is identical to the one above
| } else { | ||
| motor.set(TalonFXControlMode.PercentOutput, 0); | ||
| motor.set(0); |
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would prefer to do motor.disable() for these cases
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| driveMotorConfigs.Slot0.kP = Config.SWERVE_DRIVE_KP; | ||
| driveMotorConfigs.Slot0.kI = Config.SWERVE_DRIVE_KI; | ||
| driveMotorConfigs.Slot0.kD = Config.SWERVE_DRIVE_KD; | ||
| driveMotorConfigs.Slot0.kV = Config.SWERVE_DRIVE_KV; | ||
| driveMotorConfigs.Slot0.kS = Config.SWERVE_DRIVE_KS; | ||
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| driveMotorConfigs.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID(); | ||
| driveMotorConfigs.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder; |
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we are probably supposed to set this on the steer motor, not the drive motor
| @@ -67,7 +74,7 @@ public void startHoming() { | |||
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| public void resetHoming() { | |||
| homingState = HomingState.NOT_HOMED; | |||
| motor.set(TalonFXControlMode.PercentOutput, 0); | |||
| motor.set(0); | |||
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would prefer motor.disable(). if you could actually do a project wide find and replace for these, that would be good
| setAngle(Positions.STOWED.angle); | ||
| homingState = HomingState.HOMED; | ||
| } | ||
| } else if (homingState == HomingState.HOMED) { | ||
| motor.set(ControlMode.MotionMagic, goalAngle.getRotations() * 2048 * Config.WRIST_GEARING); | ||
| motor.set(goalAngle.getRotations() * 2048 * Config.WRIST_GEARING); |
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this is a bug. you are
- converting for sensor units
- using a position to set a voltage
- applying gearing ratios in code
instead, we should be using a motion magic control request here
jonahsnider
suggested changes
Aug 26, 2023
| motor.set(TalonFXControlMode.PercentOutput, 0); | ||
| motor.setSelectedSensorPosition( | ||
| Config.WRIST_HOMED_ANGLE.getRotations() * 2048.0 * Config.WRIST_GEARING); | ||
| // motor.disable(); |
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| if (Config.IS_DEVELOPMENT) { | ||
| Logger.getInstance().recordOutput("Wrist/RawAngle", motor.getSelectedSensorPosition()); | ||
| Logger.getInstance().recordOutput("Wrist/RawAngle", motor.getPosition().getValue()); |
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remove this log, it's redundant with the other position/angle log
jonahsnider
suggested changes
Aug 26, 2023
| @@ -110,10 +125,9 @@ public void robotPeriodic() { | |||
| Logger.getInstance().recordOutput("Wrist/GoalAngle", goalAngle.getDegrees()); | |||
| Logger.getInstance().recordOutput("Wrist/Homing", homingState.toString()); | |||
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| Logger.getInstance().recordOutput("Wrist/Voltage", motor.getMotorOutputVoltage()); | |||
| Logger.getInstance().recordOutput("Wrist/Voltage", motor.getDutyCycle().getValue()); | |||
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we should rename this field to Wrist/DutyCycleOut
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Closes #17
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Closes #19
Closes #20
Closes #21