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…akenX44 motor - HenryS
jcballock
reviewed
Feb 19, 2026
| import com.ctre.phoenix6.hardware.TalonFX; | ||
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| public class HoodSubsystem extends SubsystemBase { | ||
| private final TalonFX hoodMotor = new TalonFX(2); |
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Use CAN id from here: https://docs.google.com/spreadsheets/d/1WbgaU37nefscbXe3Wf2O_81FqlkXwHfCqncAiz4gMCA/edit?gid=632059909#gid=632059909. Make this a constant like we talked about
jcballock
reviewed
Feb 19, 2026
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| private final ArmConfig hoodConfig = new ArmConfig(hoodSMC) | ||
| .withTelemetry("HoodMech", TelemetryVerbosity.HIGH) | ||
| .withSoftLimits(Degrees.of(5), Degrees.of(100)) |
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Validate these against the CAD
jcballock
reviewed
Feb 19, 2026
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| private final SmartMotorControllerConfig hoodMotorConfig = new SmartMotorControllerConfig(this) | ||
| .withClosedLoopController(0.00016541, 0, 0, RPM.of(5000), RotationsPerSecondPerSecond.of(2500)) | ||
| .withGearing(new MechanismGearing(GearBox.fromReductionStages(4, 4))) |
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Validate if this is the correct gear ratio from the CAD
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Made the HoodSubsystem and made it geared to the KrakenX44 motor. Henry Schadler