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Made Transfer Use VelocityVoltage #508

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aa09c56
transfer velocity
aaditst Apr 1, 2026
3528bb0
Merge branch 'main' into 506-controlled-velocity-for-transfer
aaditst Apr 1, 2026
221e2c4
no more motion magic its bad
aaditst Apr 1, 2026
0f1b3f5
Merge branch '506-controlled-velocity-for-transfer' of https://github…
aaditst Apr 1, 2026
73dbf3a
changed kv to be a config
aaditst Apr 1, 2026
fb4f304
made setpower use settransfervelocity
aaditst Apr 6, 2026
5ffd1ad
Merge branch 'main' into 506-controlled-velocity-for-transfer
mavanie Apr 7, 2026
657c4ff
New gains
Zane-122 Apr 8, 2026
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7 changes: 3 additions & 4 deletions src/main/java/frc/robot/RobotContainer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -157,9 +157,9 @@ private void configureBindings() {
new Trigger(copilot::getXButton).whileTrue(hood.retractCommand().withInterruptBehavior(InterruptionBehavior.kCancelIncoming));

new Trigger(copilot::getLeftBumperButton).whileTrue(indexer.indexCommand(-IndexerConstants.SPINDEXDER_POWER,
-IndexerConstants.TRANSFER_POWER));
-IndexerConstants.TRANSFER_VELOCITY));
new Trigger(copilot::getRightBumperButton).whileTrue(indexer.indexCommand(IndexerConstants.SPINDEXDER_POWER,
IndexerConstants.TRANSFER_POWER));
IndexerConstants.TRANSFER_VELOCITY));

new Trigger(copilot::getStartButton).onTrue(collector.stowPivotCommand());

Expand Down Expand Up @@ -193,8 +193,7 @@ private void configureBindings() {

// new Trigger(() -> DriverStation.isEnabled()).onTrue(hood.zeroCommand());

new Trigger(copilot::getAButton).whileTrue(indexer.autoIndex(IndexerConstants.SPINDEXDER_POWER, IndexerConstants.TRANSFER_POWER)).onFalse(new InstantCommand(() -> indexer.stop()));

new Trigger(copilot::getAButton).whileTrue(indexer.autoIndex(IndexerConstants.SPINDEXDER_POWER, IndexerConstants.TRANSFER_VELOCITY)).onFalse(new InstantCommand(() -> indexer.stop()));
new Trigger(copilot::getYButton).whileTrue(indexer.indexCommand(-0.5).withTimeout(0.1).andThen(indexer.indexCommand(1)));


Expand Down
45 changes: 31 additions & 14 deletions src/main/java/frc/robot/subsystems/Indexer.java
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Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.sim.TalonFXSimState;
import com.ctre.phoenix6.sim.TalonFXSimState.MotorType;

Expand Down Expand Up @@ -58,10 +59,15 @@ public class IndexerConstants {
public static final Current TRANSFER_MOTOR_STATOR_LIMIT = Amps.of(40); // temp
public static final boolean TRANSFER_MOTOR_BRAKE_MODE = true; // temp

public static final double TRANSFER_POWER = 0.8;
public static final double TRANSFER_POWER = 0.7;
public static final double TRANSFER_VELOCITY = 70;
public static final Current TRANSFER_SUPPLY_LIMIT = Amps.of(40); // temp
public static final boolean TRANSFER_SUPPLY_LIMIT_ENABLE = true; // temp

public static final double TRANSFER_kP = 0.2; // temp
public static final double TRANSFER_kV = 0.124; // temp
public static final double TRANSFER_kS = 0.25;

// sim
public static final AngularVelocity SIM_INDEX_THRESHOLD = RotationsPerSecond.of(1); // temp
}
Expand All @@ -72,6 +78,8 @@ public class IndexerConstants {
private final DutyCycleOut spindexerDutyCycle;
private final DutyCycleOut transferDutyCycle;

private VelocityVoltage transferVelocityVoltage;

private LinearSystemSim<N1, N1, N1> spindexerSim;
private TalonFXSimState motorSim;

Expand All @@ -88,12 +96,17 @@ public Indexer() {

spindexerDutyCycle = new DutyCycleOut(0d);
transferDutyCycle = new DutyCycleOut(0d);
VelocityVoltage transferVelocityVoltage = new VelocityVoltage(0);

TalonFXConfiguration spindexerConfig = spindexerMotor.getConfig();
TalonFXConfiguration transferConfig = transferMotor.getConfig();

spindexerConfig.CurrentLimits.SupplyCurrentLimitEnable = IndexerConstants.SPINDEXER_SUPPLY_LIMIT_ENABLE;
spindexerConfig.CurrentLimits.SupplyCurrentLimit = IndexerConstants.SPINDEXER_SUPPLY_LIMIT.in(Amps);

transferConfig.Slot0.kP = IndexerConstants.TRANSFER_kP;
transferConfig.Slot0.kV = IndexerConstants.TRANSFER_kV;

transferConfig.CurrentLimits.SupplyCurrentLimitEnable = IndexerConstants.TRANSFER_SUPPLY_LIMIT_ENABLE;
transferConfig.CurrentLimits.SupplyCurrentLimit = IndexerConstants.TRANSFER_SUPPLY_LIMIT.in(Amps);

Expand Down Expand Up @@ -178,6 +191,10 @@ public void setTransferPower(double power) {
transferMotor.setControl(transferDutyCycle.withOutput(power));
}

public void setTransferVelocity(double velocity) {
transferMotor.setControl(transferVelocityVoltage.withVelocity(velocity));
}

/**
* stops all movement to the transfer motor
*/
Expand All @@ -191,12 +208,12 @@ public void stopTransfer() {
*/
public void setPower(double power) {
setSpindexerPower(power);
setTransferPower(power);
setTransferVelocity(power);
}

public void setPower(double spindexerPower, double transferPower) {
setSpindexerPower(spindexerPower);
setTransferPower(transferPower);
setTransferVelocity(transferPower);
}

/**
Expand All @@ -217,25 +234,25 @@ public Command indexCommand(double power) {
return new StartEndCommand(() -> setPower(power), () -> stop(), this);
}

public Command indexCommand(DoubleSupplier spindexerPower, DoubleSupplier transferPower) {
return new StartEndCommand(() -> setPower(spindexerPower.getAsDouble(), transferPower.getAsDouble()), this::stop);
public Command indexCommand(DoubleSupplier spindexerPower, DoubleSupplier transferVelocity) {
return new StartEndCommand(() -> setPower(spindexerPower.getAsDouble(), transferVelocity.getAsDouble()), this::stop);

@Zane-122 Zane-122 Apr 3, 2026

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Is this not just setting the duty cycle still? setPower() still calls setTransferPower which calls the duty cycle.

}

public Command autoIndex(DoubleSupplier spindexerPower, DoubleSupplier transferPower) {
return new InstantCommand(() -> setTransferPower(transferPower.getAsDouble()))
public Command autoIndex(DoubleSupplier spindexerPower, DoubleSupplier transferVelocity) {
return new InstantCommand(() -> setTransferVelocity(transferVelocity.getAsDouble()))
.andThen(new WaitCommand(IndexerConstants.SPINDEXER_DELAY))
.andThen(indexCommand(spindexerPower, transferPower));
.andThen(indexCommand(spindexerPower, transferVelocity));
}

public Command autoIndex(double spindexerPower, double transferPower) {
return autoIndex(() -> spindexerPower, () -> transferPower);
public Command autoIndex(double spindexerPower, double transferVelocity) {
return autoIndex(() -> spindexerPower, () -> transferVelocity);
}

public Command indexCommand(double spindexerPower, double transferPower) {
return indexCommand(() -> spindexerPower, () -> transferPower);
public Command indexCommand(double spindexerPower, double transferVelocity) {
return indexCommand(() -> spindexerPower, () -> transferVelocity);
}

public Command transferCommand(DoubleSupplier transferPower) {
return new RunCommand(() -> setTransferPower(transferPower.getAsDouble()));
public Command transferCommand(DoubleSupplier transferVelocity) {
return new RunCommand(() -> setTransferVelocity(transferVelocity.getAsDouble()));
}
}
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