forgot to git add new files

diff --git a/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOTalonFX.java b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOTalonFX.java
new file mode 100644 (file)
index 0000000..284a46d
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/spindexer/SpindexerIOTalonFX.java
@@ -0,0 +1,52 @@
+package frc.robot.subsystems.spindexer;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.controls.ControlRequest;
+import com.ctre.phoenix6.hardware.TalonFX;
+
+import frc.robot.constants.Constants;
+import frc.robot.constants.IdConstants;
+
+public class SpindexerIOTalonFX implements SpindexerIO {
+
+  private TalonFX motor = new TalonFX(IdConstants.SPINDEXER_ID, Constants.CANIVORE_SUB);
+
+  public SpindexerIOTalonFX() {
+    // configure current limit
+    CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
+    limitConfig.StatorCurrentLimit = SpindexerConstants.CURRENT_SPIKE_LIMIT;
+    limitConfig.StatorCurrentLimitEnable = true;
+    limitConfig.SupplyCurrentLowerLimit = SpindexerConstants.currentLimit;
+    limitConfig.SupplyCurrentLowerTime = 1.5;
+    motor.getConfigurator().apply(limitConfig);
+
+  }
+
+  @Override
+  public void updateInputs(SpindexerIOInputs inputs) {
+    inputs.spindexerVelocity = motor.getVelocity().getValueAsDouble(); // SpindexerConstants.gearRatio;
+    inputs.spindexerCurrent = motor.getStatorCurrent().getValueAsDouble();
+    inputs.spindexerPosition = motor.getPosition().getValueAsDouble();
+  }
+
+  @Override
+  public void setNewCurrentLimit(double newCurrentLimit) {
+    CurrentLimitsConfigs limitConfig = new CurrentLimitsConfigs();
+    limitConfig.StatorCurrentLimit = newCurrentLimit;
+    limitConfig.StatorCurrentLimitEnable = true;
+    limitConfig.SupplyCurrentLowerLimit = newCurrentLimit;
+    limitConfig.SupplyCurrentLowerTime = 1.5;
+    motor.getConfigurator().apply(limitConfig);
+  }
+
+  @Override
+  public void setControl(ControlRequest request) {
+    motor.setControl(request);
+  }
+
+  @Override
+  public void setPositionRaw(double pos) {
+    motor.setPosition(pos);
+  }
+
+}

diff --git a/src/main/java/frc/robot/subsystems/turret/TurretIOTalonFX.java b/src/main/java/frc/robot/subsystems/turret/TurretIOTalonFX.java
new file mode 100644 (file)
index 0000000..b7292ca
--- /dev/null
+++ b/src/main/java/frc/robot/subsystems/turret/TurretIOTalonFX.java
@@ -0,0 +1,82 @@
+package frc.robot.subsystems.turret;
+
+import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
+import com.ctre.phoenix6.configs.TalonFXConfiguration;
+import com.ctre.phoenix6.controls.ControlRequest;
+import com.ctre.phoenix6.hardware.TalonFX;
+import com.ctre.phoenix6.signals.InvertedValue;
+import com.ctre.phoenix6.signals.NeutralModeValue;
+
+import edu.wpi.first.math.util.Units;
+import frc.robot.constants.Constants;
+import frc.robot.constants.IdConstants;
+
+public class TurretIOTalonFX implements TurretIO {
+
+  private final TalonFX motor = new TalonFX(IdConstants.TURRET_MOTOR_ID, Constants.CANIVORE_SUB);
+
+  public TurretIOTalonFX() {
+    motor.setNeutralMode(NeutralModeValue.Brake);
+
+    TalonFXConfiguration config = new TalonFXConfiguration();
+    config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive;
+
+    config.Slot0.kP = 12.0;
+    config.Slot0.kS = 0.1; // Static friction compensation
+    config.Slot0.kV = 0.12; // Adjusted kV for the gear ratio
+    config.Slot0.kD = 0.0; // The "Braking" term to stop overshoot
+
+    var mm = config.MotionMagic;
+    mm.MotionMagicCruiseVelocity = Units.radiansToRotations(TurretConstants.MAX_VELOCITY) * TurretConstants.GEAR_RATIO;
+    mm.MotionMagicAcceleration = Units.radiansToRotations(TurretConstants.MAX_ACCELERATION)
+        * TurretConstants.GEAR_RATIO; // Lowered for belt safety
+    mm.MotionMagicJerk = 0; // Set to > 0 for "S-Curve" smoothing if needed
+    motor.getConfigurator().apply(config);
+
+    motor.setPosition(0.0);
+  }
+
+  @Override
+  public void updateInputs(TurretIOInputs inputs) {
+    inputs.positionDeg = Units.rotationsToDegrees(motor.getPosition().getValueAsDouble()) / TurretConstants.GEAR_RATIO;
+    inputs.velocityRadPerSec = Units.rotationsToRadians(motor.getVelocity().getValueAsDouble())
+        / TurretConstants.GEAR_RATIO;
+    inputs.motorCurrent = motor.getStatorCurrent().getValueAsDouble();
+    inputs.motorVoltage = motor.getMotorVoltage().getValueAsDouble();
+
+  }
+
+  @Override
+  public void setMotorRaw(double speed) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setMotorRaw'");
+  }
+
+  @Override
+  public void setControl(ControlRequest request) {
+    // TODO Auto-generated method stub
+    throw new UnsupportedOperationException("Unimplemented method 'setControl'");
+  }
+
+  /**
+   * sets supply and stator current limits
+   * 
+   * @param limit the current limit for stator and supply current
+   */
+  @Override
+  public void setCurrentLimits(double limit) {
+    CurrentLimitsConfigs limits = new CurrentLimitsConfigs()
+        .withStatorCurrentLimitEnable(true)
+        .withStatorCurrentLimit(limit)
+        .withSupplyCurrentLimitEnable(true)
+        .withSupplyCurrentLimit(limit);
+
+    if (limit == TurretConstants.NORMAL_CURRENT_LIMIT) {
+      limits.SupplyCurrentLowerLimit = TurretConstants.CALIBRATION_CURRENT_LIMIT;
+      limits.SupplyCurrentLowerTime = 1.0; // Set to lower limit if over 1 second
+    }
+
+    motor.getConfigurator().apply(limits);
+  }
+
+}