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Update AmpArmIOTalonFX.java #43

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ad77e99
Update AmpArmIOTalonFX.java
RuotT Mar 15, 2024
4bc3b9b
Update status var
RuotT Mar 16, 2024
9d58dcc
Fixed all issues with Pull Resquest
RuotT Mar 19, 2024
f0e32c4
Merge Conflict :/
RuotT Mar 19, 2024
137a834
update the IO layer
RuotT Mar 19, 2024
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29 changes: 25 additions & 4 deletions src/main/java/frc/robot/hardware/AmpArmIOTalonFX.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@

import java.util.function.DoubleSupplier;

import com.ctre.phoenix6.Orchestra;
import com.ctre.phoenix6.StatusCode;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.configs.TalonFXConfigurator;
Expand Down Expand Up @@ -53,14 +55,14 @@ public class AmpArmIOTalonFX implements AmpArmIO {
private final double wristKI = 0.0;
private final double wristKD = 0.0;
private final double wristKF = 0.0;

private DigitalInput zeroButton;
private DigitalInput brakeButton;
private DigitalInput sensor = new DigitalInput(Constants.AMP_INTAKE_SENSOR_PORT);

private boolean zeroPrev = false;
private boolean brakePrev = false;

private Orchestra updateSound;
private NeutralModeValue neutralMode = NeutralModeValue.Brake;

/** Creates a new AmpArmIOTalonFX. */
Expand All @@ -70,12 +72,21 @@ public AmpArmIOTalonFX(DigitalInput zeroButton, DigitalInput brakeButton) {

armMotor.getConfigurator().apply(new TalonFXConfiguration());
wristMotor.getConfigurator().apply(new TalonFXConfiguration());

updateSound = new Orchestra();
updateSound.addInstrument(armMotor);
updateSound.addInstrument(wristMotor);
StatusCode status = updateSound.loadMusic("TetrisTheme.chrp");

if(status != StatusCode.OK){
System.out.println("Error loading sound");
}

TalonFXConfiguration armConfig = new TalonFXConfiguration();

armConfig.SoftwareLimitSwitch
.withForwardSoftLimitThreshold(ARM_FORWARD_LIMIT)
.withReverseSoftLimitThreshold(ARM_REVERSE_LIMIT)
.withReverseSoftLimitThreshold(ARM_REVERSE_LIMIT)
.withForwardSoftLimitEnable(true)
.withReverseSoftLimitEnable(true);

Expand Down Expand Up @@ -131,10 +142,11 @@ public void disableBrakeMode() {

@Override
public void resetArmWristPos() {

armMotor.setPosition(-78.0);
wristMotor.setPosition(70.0);


updateSound.stop();
updateSound.play();
}

@Override
Expand All @@ -152,6 +164,10 @@ public void setArm(double angle) {
public void setWrist(double angle) {
PositionVoltage positionVoltage = new PositionVoltage(angle);
wristMotor.setControl(positionVoltage);
if(angle == 0.0){
updateSound.stop();
updateSound.play();
}
}

@Override
Expand Down Expand Up @@ -219,4 +235,9 @@ public boolean getBrakeButton(){
public boolean isBrakeMode(){
return neutralMode == NeutralModeValue.Brake;
}
public void stopSound(){
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if(updateSound.isPlaying()){
updateSound.stop();
}
}
}
2 changes: 2 additions & 0 deletions src/main/java/frc/robot/io/AmpArmIO.java
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Expand Up @@ -63,4 +63,6 @@ public default void updateInputs(AmpArmIOInputs inputs) {}
public boolean isBrakeMode();

public boolean getZeroButton();

public void stopSound();
}