add more specificiations

lasarobotics · Feb 10, 2025 · 880845e · 880845e
1 parent 9a74751
commit 880845e
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Showing 3 changed files with 13 additions and 13 deletions.
diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -111,27 +111,27 @@ public static class Drive {
   }
 
   public static class LiftHardware {
-   public static final TalonFX.ID ELEVATOR_MOTOR_ID = new TalonFX.ID("LiftHardware/Elevator", PhoenixCANBus.RIO, 4);
-   public static final TalonFX.ID PIVOT_MOTOR_ID = new TalonFX.ID("LiftHardware/Pivot", PhoenixCANBus.RIO, 5);
+   public static final TalonFX.ID ELEVATOR_MOTOR_ID = new TalonFX.ID("LiftHardware/Elevator", PhoenixCANBus.RIO, 60);
+   public static final TalonFX.ID PIVOT_MOTOR_ID = new TalonFX.ID("LiftHardware/Pivot", PhoenixCANBus.RIO, 61);
    public static final Distance SPROCKET_PITCH_RADIUS = Inches.of((1.751)/(2.0));
-   public static final LimitSwitch.ID ELEVATOR_HOMING_BEAM_BREAK_PORT = new LimitSwitch.ID("LiftHardware/HomingSwitch", 0);
-   public static final CANcoder.ID ARM_CANCODER_ID = new CANcoder.ID("LiftHardware/CANcoder", PhoenixCANBus.RIO, 8);
+   public static final LimitSwitch.ID ELEVATOR_HOMING_BEAM_BREAK_PORT = new LimitSwitch.ID("LiftHardware/HomingSwitch", 4);
+   public static final CANcoder.ID ARM_CANCODER_ID = new CANcoder.ID("LiftHardware/CANcoder", PhoenixCANBus.RIO, 62);
   }
 
   public static class IntakeHardware {
-    public static final Spark.ID INTAKE_MOTOR_ID = new Spark.ID("IntakeHardware/IntakeMotor", 7);
+    public static final Spark.ID INTAKE_MOTOR_ID = new Spark.ID("IntakeHardware/IntakeMotor", 53);
     public static final LimitSwitch.ID FIRST_INTAKE_BEAM_BREAK = new LimitSwitch.ID(
-      "IntakeHardware/FirstIntakeBeamBreak", 1
+      "IntakeHardware/FirstIntakeBeamBreak", 0
     );
     public static final LimitSwitch.ID SECOND_INTAKE_BEAM_BREAK = new LimitSwitch.ID(
-      "IntakeHardware/SecondIntakeBeamBreak", 2
+      "IntakeHardware/SecondIntakeBeamBreak", 1
     );
   }
 
   public static class EndEffectorHardware {
-    public static final Spark.ID OUTTAKE_MOTOR_ID = new Spark.ID("endEffecterMotor", 9);
-    public static final int FORWARD_BEAM_BREAK = 3;
-    public static final int REVERSE_BEAM_BREAK = 4;
+    public static final Spark.ID OUTTAKE_MOTOR_ID = new Spark.ID("endEffectorMotor", 52);
+    public static final int FORWARD_BEAM_BREAK = 2;
+    public static final int REVERSE_BEAM_BREAK = 3;
   }
 
   public static class VisionHardware {

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -126,7 +126,7 @@ public static IntakeSubsystem getInstance(Hardware intakeHardware) {
    */
   public static Hardware initializeHardware() {
     Hardware intakeHardware = new Hardware(
-      new Spark(Constants.IntakeHardware.INTAKE_MOTOR_ID, MotorKind.NEO_VORTEX),
+      new Spark(Constants.IntakeHardware.INTAKE_MOTOR_ID, MotorKind.NEO),
       new LimitSwitch(Constants.IntakeHardware.FIRST_INTAKE_BEAM_BREAK, Constants.Frequencies.BEAM_BREAK_UPDATE_RATE),
       new LimitSwitch(Constants.IntakeHardware.SECOND_INTAKE_BEAM_BREAK, Constants.Frequencies.BEAM_BREAK_UPDATE_RATE)
     );

diff --git a/src/main/java/frc/robot/subsystems/lift/LiftSubsystem.java b/src/main/java/frc/robot/subsystems/lift/LiftSubsystem.java
@@ -982,7 +982,7 @@ private LiftSubsystem(Hardware liftHardware) {
     pivotConfig.CurrentLimits.SupplyCurrentLowerTime = 1.0;
     pivotConfig.Feedback.SensorToMechanismRatio = 1.0;
     pivotConfig.Feedback.RotorToSensorRatio = 52.36363636363636;
-    pivotConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
+    pivotConfig.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.FusedCANcoder;
     pivotConfig.Feedback.FeedbackRemoteSensorID = m_armCANcoder.getID().deviceID;
     pivotConfig.Audio.AllowMusicDurDisable = true;
     pivotConfig.MotionMagic.MotionMagicAcceleration = 0;
@@ -1005,7 +1005,7 @@ private LiftSubsystem(Hardware liftHardware) {
 
     CANcoderConfiguration armCANCoderConfig = new CANcoderConfiguration();
     armCANCoderConfig.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
-    armCANCoderConfig.MagnetSensor.MagnetOffset = 0;
+    armCANCoderConfig.MagnetSensor.MagnetOffset = 0.69287109375;
     armCANCoderConfig.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;
 
     m_elevatorSysIDLogConsumer = state -> SignalLogger.writeString(getName() + ELEVATOR_MOTOR_SYSID_STATE_LOG_ENTRY,