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Finished week 3 Homework #13

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afec09b
FInished week 2 homework
samanyurayala Jul 17, 2026
f32dbcd
Merge week 3 and week 2
samanyurayala Jul 23, 2026
d1ace7a
Redo merge
samanyurayala Jul 23, 2026
426f840
undo everything because i did it wrong
samanyurayala Jul 23, 2026
737fdea
Merge week 3 and week 2
samanyurayala Jul 23, 2026
aa5de98
Merge again for some reason
samanyurayala Jul 23, 2026
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52 changes: 21 additions & 31 deletions src/main/java/frc/robot/subsystems/ArmSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,6 @@

package frc.robot.subsystems;

import edu.wpi.first.units.measure.Current;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.Constants;

Expand All @@ -19,52 +18,44 @@
import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.controls.TorqueCurrentFOC;



public class ArmSubsystem extends SubsystemBase {
private TalonFX armMotor, rollerMotor;

private final DutyCycleOut m_dutyCycleRequest = new DutyCycleOut(0.0);
private final VoltageOut m_voltageRequest = new VoltageOut(0.0);
private final TorqueCurrentFOC m_torqueRequest = new TorqueCurrentFOC(0.0);

public ArmSubsystem() {
armMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID);
rollerMotor = new TalonFX(Constants.Arm.ARM_MOTOR_ID);

CurrentLimitsConfigs rollerClc =
new CurrentLimitsConfigs()
.withStatorCurrentLimit(50)
.withStatorCurrentLimitEnable(false)
.withSupplyCurrentLimit(30)
.withSupplyCurrentLimitEnable(false);

CurrentLimitsConfigs armClc =
new CurrentLimitsConfigs()
armMotor = new TalonFX(Constants.Arm.ARM_MOTOR_ID);
rollerMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID);

CurrentLimitsConfigs rollerClc = new CurrentLimitsConfigs()
.withStatorCurrentLimit(50)
.withStatorCurrentLimitEnable(true)
.withSupplyCurrentLimit(30)
.withSupplyCurrentLimitEnable(true);

CurrentLimitsConfigs armClc = new CurrentLimitsConfigs()
.withStatorCurrentLimit(100)
.withStatorCurrentLimitEnable(true)
.withSupplyCurrentLimit(50)
.withSupplyCurrentLimitEnable(true);

MotorOutputConfigs rollerMotorOutputConfigs =
new MotorOutputConfigs()
MotorOutputConfigs rollerMotorOutputConfigs = new MotorOutputConfigs()
.withInverted(InvertedValue.CounterClockwise_Positive)
.withNeutralMode(NeutralModeValue.Brake);
.withNeutralMode(NeutralModeValue.Coast);

MotorOutputConfigs armMotorOutputConfigs =
new MotorOutputConfigs()
MotorOutputConfigs armMotorOutputConfigs = new MotorOutputConfigs()
.withInverted(InvertedValue.CounterClockwise_Positive)
.withNeutralMode(NeutralModeValue.Brake);

TalonFXConfiguration rollerConfig =
new TalonFXConfiguration()
TalonFXConfiguration rollerConfig = new TalonFXConfiguration()
.withCurrentLimits(rollerClc)
.withMotorOutput(rollerMotorOutputConfigs);

TalonFXConfiguration armConfig =
new TalonFXConfiguration()
.withCurrentLimits(rollerClc)
.withMotorOutput(rollerMotorOutputConfigs);
TalonFXConfiguration armConfig = new TalonFXConfiguration()
.withCurrentLimits(armClc)
.withMotorOutput(armMotorOutputConfigs);

TalonFXConfigurator rollerConfigurator = rollerMotor.getConfigurator();
TalonFXConfigurator armConfigurator = armMotor.getConfigurator();
Expand All @@ -74,19 +65,18 @@ public ArmSubsystem() {

}

public void setRollerDutyCycle(double voltage) {
rollerMotor.setControl(m_voltageRequest.withOutput(voltage));
public void setRollerDutyCycle(double percent) {
rollerMotor.setControl(m_dutyCycleRequest.withOutput(percent));
}

public void setRollerVoltage(double voltage) {
rollerMotor.setControl(m_dutyCycleRequest.withOutput(voltage));
rollerMotor.setControl(m_voltageRequest.withOutput(voltage));
}

public void setArmTorqueCurrent(double current) {
armMotor.setControl(m_torqueRequest.withOutput(current));
}


@Override
public void periodic() {
// This method will be called once per scheduler run
Expand Down