added phoenix v5 vendor dep for talons

grt192 · Jan 27, 2024 · 725ed03 · 725ed03
1 parent 451f950
commit 725ed03
Show file tree

Hide file tree

Showing 4 changed files with 170 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -101,13 +101,21 @@ private void configureBindings() {
         }));
 
         bButton.onTrue(new InstantCommand(() -> {
-          feederSubsystem.setFeederMotorSpeed(feederSubsystem.FEEDER_MOTOR_SPEED);
+          feederSubsystem.setFeederMotorSpeed(.7);
         }));
 
         bButton.onFalse(new InstantCommand(() -> {
           feederSubsystem.setFeederMotorSpeed(0);
         }));
 
+        xButton.onTrue(new InstantCommand(() -> {
+          feederSubsystem.setFeederMotorSpeed(-.7);
+        }));
+
+        xButton.onFalse(new InstantCommand(() -> {
+          feederSubsystem.setFeederMotorSpeed(0);
+        }));
+
         pivotSubsystem.setDefaultCommand(new InstantCommand(() -> {
             pivotSubsystem.setPivotMotorSpeed(.3 * (mechController.getRightTriggerAxis() - mechController.getLeftTriggerAxis()));
         }, pivotSubsystem));

diff --git a/src/main/java/frc/robot/subsystems/FeederSubsystem.java b/src/main/java/frc/robot/subsystems/FeederSubsystem.java
@@ -1,6 +1,8 @@
 package frc.robot.subsystems;
 
 import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix.motorcontrol.TalonSRXControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import com.revrobotics.ColorSensorV3;
 
 import edu.wpi.first.wpilibj.I2C;
@@ -14,22 +16,24 @@ public class FeederSubsystem extends SubsystemBase{
     public final int TOLERANCE = 10; //represents the value when half note is in front of sensor
 
     //motors
-    private final TalonFX feederMotor; 
+    private final TalonSRX feederMotor; 
 
     //devices
     private final ColorSensorV3 shooterSensor; //distance sensor
 
     public FeederSubsystem(){
         //motors
-        feederMotor = new TalonFX(15);
+        feederMotor = new TalonSRX(15);
+        feederMotor.setInverted(true);
 
         //sensors
         shooterSensor = new ColorSensorV3(I2C.Port.kMXP);
     }
 
     public void setFeederMotorSpeed(double speed){
-        feederMotor.setVoltage(speed * 12);
-        System.out.println("feeding motor speed is: " + feederMotor.get());
+        feederMotor.set(TalonSRXControlMode.PercentOutput,speed);
+        // feederMotor.setVoltage(speed * 12);
+        System.out.println("feeding motor speed is: " + feederMotor.getBusVoltage());
 
     }
 

diff --git a/src/main/java/frc/robot/subsystems/PivotSubsystem.java b/src/main/java/frc/robot/subsystems/PivotSubsystem.java
@@ -128,14 +128,14 @@ public void periodic(){
         //(check if encoder prints zero when run)
         if(limitSwitch != null && limitSwitch.get()){ //false = limit switch is pressed
             rotationEncoder.setPosition(0); 
-            System.out.println(rotationEncoder.getPosition()); //should print 0
+            // System.out.println(rotationEncoder.getPosition()); //should print 0
         }
 
         if(autoAim){
             setAngle(getAutoAimAngle(getDistance()));
         }
 
-        System.out.println("current pos" + rotationEncoder.getPosition());
+        // System.out.println("current pos" + rotationEncoder.getPosition());
 
         // if(currentState == ShooterState.FIRING && (shooterSensor.getRed() < TOLERANCE)){  //when there is no note
         //     setShooterState(ShooterState.NO_NOTE);

diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json
@@ -0,0 +1,151 @@
+{
+    "fileName": "Phoenix5.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.33.0",
+    "frcYear": 2024,
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
+    "requires": [
+        {
+            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+            "offlineFileName": "Phoenix6.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.33.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.33.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}