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Add Motion Magic control for smooth acceleration profiles #4

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Add Motion Magic control for smooth acceleration profiles #4

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8 changes: 4 additions & 4 deletions src/main/java/frc/robot/subsystems/Arm.java
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Original file line number Diff line number Diff line change
Expand Up @@ -6,14 +6,13 @@

import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.controls.MotionMagicVoltage;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.FeedbackSensorSourceValue;
import com.ctre.phoenix6.signals.GravityTypeValue;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.ctre.phoenix6.signals.StaticFeedforwardSignValue;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;

Expand All @@ -27,7 +26,7 @@ public class Arm extends SubsystemBase {
private final CANcoder encoder = new CANcoder(32, canivore);

// Position output control for the arm
private final PositionVoltage positionOut = new PositionVoltage(0);
private final MotionMagicVoltage positionOut = new MotionMagicVoltage(0);

public Arm() {
// Create and apply the configuration for the leader motor
Expand All @@ -41,7 +40,8 @@ public Arm() {
config.Slot0.kS = 0.0; // Static gain
config.Slot0.kP = 0.0; // Proportional gain
config.Slot0.kD = 0.0; // Derivative gain
config.Slot0.StaticFeedforwardSign = StaticFeedforwardSignValue.UseClosedLoopSign;
config.MotionMagic.MotionMagicCruiseVelocity = 0.0; // Max velocity
config.MotionMagic.MotionMagicAcceleration = 0.0; // Max acceleration allowed
// Configure the leader motor to use the CANcoder for position feedback
config.Feedback.FeedbackSensorSource = FeedbackSensorSourceValue.RemoteCANcoder;
config.Feedback.FeedbackRemoteSensorID = encoder.getDeviceID();
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6 changes: 4 additions & 2 deletions src/main/java/frc/robot/subsystems/Flywheel.java
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.VelocityVoltage;
import com.ctre.phoenix6.controls.MotionMagicVelocityVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.NeutralModeValue;
Expand All @@ -24,7 +24,7 @@ public class Flywheel extends SubsystemBase {
private final TalonFX follower = new TalonFX(22, canivore);

// Velocity output control for the flywheel
private final VelocityVoltage velocityOut = new VelocityVoltage(0);
private final MotionMagicVelocityVoltage velocityOut = new MotionMagicVelocityVoltage(0);

public Flywheel() {
// Set the follower to follow the leader motor
Expand All @@ -38,6 +38,8 @@ public Flywheel() {
config.Slot0.kS = 0.0; // Static gain
config.Slot0.kV = 0.0; // Velocity gain
config.Slot0.kP = 0.0; // Proportional gain
config.MotionMagic.MotionMagicCruiseVelocity = 0.0; // Max velocity
config.MotionMagic.MotionMagicAcceleration = 0.0; // Max acceleration allowed
// Try to apply config multiple time. Break after successfully applying
for (int i = 0; i < 2; ++i) {
var status = leader.getConfigurator().apply(config);
Expand Down