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Week 3 aarav #21

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Week 3 aarav #21

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6058bb2
Finish HW 2 - ArmSubsystem Implementation
firestar3 Jul 22, 2026
d8bb5e5
rename setter parameter names to voltage and current
firestar3 Jul 30, 2026
114af65
Resolve merge conflicts and complete Week 3 motor configs
firestar3 Jul 30, 2026
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21 changes: 12 additions & 9 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 @@ -8,6 +8,9 @@
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;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
Expand All @@ -29,8 +32,8 @@ public class ArmSubsystem extends SubsystemBase {
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);
armMotor = new TalonFX(Constants.Arm.ARM_MOTOR_ID);
rollerMotor = new TalonFX(Constants.Arm.ROLLER_MOTOR_ID);

CurrentLimitsConfigs rollerClc =
new CurrentLimitsConfigs()
Expand Down Expand Up @@ -73,19 +76,19 @@ public ArmSubsystem() {
armConfigurator.apply(armConfig);

}

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

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

public void setArmTorqueCurrent(double current) {
armMotor.setControl(m_torqueRequest.withOutput(current));
public void setRollerVoltage (double voltage) {
rollerMotor.setControl(m_voltageRequest.withOutput(voltage));
}

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

@Override
public void periodic() {
Expand Down