switch to new launch motor

FRC7660 · Feb 29, 2024 · d2412ba · d2412ba
1 parent 900497e
commit d2412ba
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Showing 3 changed files with 11 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java
@@ -94,6 +94,7 @@ public void teleopInit() {
     }
     getAlliance();
     m_robotContainer.updatePose();
+    m_robotContainer.dropLauncher();
   }
 
   /** This function is called periodically during operator control. */

diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -155,4 +155,8 @@ public void setMotorBrake(boolean brake) {
   public void updatePose() {
     m_swerve.updatePositionCommand();
   }
+
+  public void dropLauncher(){
+    m_launch.releaseLauncher();
+  }
 }
diff --git a/src/main/java/frc/robot/subsystems/Launcher.java b/src/main/java/frc/robot/subsystems/Launcher.java
@@ -33,7 +33,7 @@ public class Launcher extends SubsystemBase {
   private RelativeEncoder upperLauncherEncoder;
   private RelativeEncoder lowerLauncherEncoder;
 
-  private CANSparkMax angle = new CANSparkMax(Constants.Launch.angleID, MotorType.kBrushless);
+  private CANSparkFlex angle = new CANSparkFlex(Constants.Launch.angleID, MotorType.kBrushless);
   private SparkPIDController angleController;
   private SparkAbsoluteEncoder angleEncoder;
 
@@ -46,7 +46,7 @@ public Launcher() {
     angle.setInverted(Constants.Launch.angleMotorInverted);
     upperLauncher.setInverted(Constants.Launch.upperMotorInverted);
     lowerLauncher.setInverted(Constants.Launch.lowerMotorInverted);
-    angle.setIdleMode(IdleMode.kCoast);
+    angle.setIdleMode(IdleMode.kBrake);
 
     angleController = angle.getPIDController();
     upperLauncherController = upperLauncher.getPIDController();
@@ -207,6 +207,10 @@ public void periodic() {
     SmartDashboard.putNumber("Angle Position", angleEncoder.getPosition());
   }
 
+  public void releaseLauncher(){
+    angle.setIdleMode(IdleMode.kCoast);
+  }
+
   public Command switchAngleCommand() {
     return this.runOnce(() -> switchAngle());
   }