From 6058bb2fbea09e24a1e355c31dbbdf8632dee174 Mon Sep 17 00:00:00 2001 From: Aarav Agarwal Date: Wed, 22 Jul 2026 12:38:50 -0700 Subject: [PATCH 1/2] Finish HW 2 - ArmSubsystem Implementation --- .../frc/robot/subsystems/ArmSubsystem.java | 23 ++++++++++++++++++- 1 file changed, 22 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java index bc42f7a..267ac96 100644 --- a/src/main/java/frc/robot/subsystems/ArmSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java @@ -5,15 +5,36 @@ package frc.robot.subsystems; import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants; + +import com.ctre.phoenix6.controls.DutyCycleOut; +import com.ctre.phoenix6.controls.TorqueCurrentFOC; +import com.ctre.phoenix6.controls.VoltageOut; import com.ctre.phoenix6.hardware.TalonFX; public class ArmSubsystem extends SubsystemBase { private TalonFX armMotor, rollerMotor; - public ArmSubsystem() { + 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.ARM_MOTOR_ID); + rollerMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID); } + public void setRollerDutyCycle (double num) { + rollerMotor.setControl(m_dutyCycleRequest.withOutput(num)); + } + + public void setRollerVoltage (double num) { + rollerMotor.setControl(m_voltageRequest.withOutput(num)); + } + + public void setArmTorqueCurrent (double num) { + armMotor.setControl(m_torqueRequest.withOutput(num)); + } @Override public void periodic() { From d8bb5e5f3660d1c1015d7eae4bd6efc035e524dd Mon Sep 17 00:00:00 2001 From: Aarav Agarwal Date: Thu, 30 Jul 2026 14:47:09 -0700 Subject: [PATCH 2/2] rename setter parameter names to voltage and current --- src/main/java/frc/robot/subsystems/ArmSubsystem.java | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/ArmSubsystem.java b/src/main/java/frc/robot/subsystems/ArmSubsystem.java index 267ac96..8f67059 100644 --- a/src/main/java/frc/robot/subsystems/ArmSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ArmSubsystem.java @@ -24,16 +24,16 @@ public ArmSubsystem() { rollerMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID); } - public void setRollerDutyCycle (double num) { - rollerMotor.setControl(m_dutyCycleRequest.withOutput(num)); + public void setRollerDutyCycle (double voltage) { + rollerMotor.setControl(m_dutyCycleRequest.withOutput(voltage)); } - public void setRollerVoltage (double num) { - rollerMotor.setControl(m_voltageRequest.withOutput(num)); + public void setRollerVoltage (double voltage) { + rollerMotor.setControl(m_voltageRequest.withOutput(voltage)); } - public void setArmTorqueCurrent (double num) { - armMotor.setControl(m_torqueRequest.withOutput(num)); + public void setArmTorqueCurrent (double current) { + armMotor.setControl(m_torqueRequest.withOutput(current)); } @Override