From dedfa2505d37a05b18f50f7830688d24868f3eaf Mon Sep 17 00:00:00 2001 From: Connor Mulligan Date: Tue, 16 Sep 2025 19:07:30 -0500 Subject: [PATCH 1/2] Re-enabled motors --- src/main/java/frc/robot/subsystems/Arm.java | 4 ++-- src/main/java/frc/robot/subsystems/Elevator.java | 8 ++++---- src/main/java/frc/robot/subsystems/Intake.java | 4 ++-- src/main/java/frc/robot/subsystems/Wrist.java | 6 +++--- 4 files changed, 11 insertions(+), 11 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Arm.java b/src/main/java/frc/robot/subsystems/Arm.java index 8590c10..1cf8d4b 100644 --- a/src/main/java/frc/robot/subsystems/Arm.java +++ b/src/main/java/frc/robot/subsystems/Arm.java @@ -58,8 +58,8 @@ public class Arm extends SubsystemBase { * Controllers: Feedforward and Profiled PID Controller. */ public Arm() { -// Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(ARM_MOTOR_ID, NeutralModeValue.Brake)); - Motor motor = new FakeMotor(); + Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(ARM_MOTOR_ID, NeutralModeValue.Brake)); +// Motor motor = new FakeMotor(); motorGroup = new MotorGroup<>(motor); armEncoder = new DutyCycleEncoder(ARM_ENCODER_ID); diff --git a/src/main/java/frc/robot/subsystems/Elevator.java b/src/main/java/frc/robot/subsystems/Elevator.java index bdc6d6a..ca7ce11 100644 --- a/src/main/java/frc/robot/subsystems/Elevator.java +++ b/src/main/java/frc/robot/subsystems/Elevator.java @@ -70,10 +70,10 @@ public class Elevator extends SubsystemBase { * Controllers: Feedforward and ProfiledPIDController. */ public Elevator() { -// leftMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_LEFT_MOTOR_ID, NeutralModeValue.Coast)); -// rightMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_RIGHT_MOTOR_ID, NeutralModeValue.Coast)); - leftMotor = new FakeMotor(); - rightMotor = new FakeMotor(); + leftMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_LEFT_MOTOR_ID, NeutralModeValue.Coast)); + rightMotor = new TalonFxMotor(MotorUtil.initTalonFX(Constants.ELEVATOR_RIGHT_MOTOR_ID, NeutralModeValue.Coast)); +// leftMotor = new FakeMotor(); +// rightMotor = new FakeMotor(); leftMotor.setPosition(Rotations.of(0)); rightMotor.setPosition(Rotations.of(0)); diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java index 2d9190a..1d3d1f6 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -35,8 +35,8 @@ public class Intake extends SubsystemBase { * Controllers: None */ public Intake() { - //Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(INTAKE_MOTOR_ID, NeutralModeValue.Brake)); - Motor motor = new FakeMotor(); + Motor motor = new TalonFxMotor(MotorUtil.initTalonFX(INTAKE_MOTOR_ID, NeutralModeValue.Brake)); +// Motor motor = new FakeMotor(); motorGroup = new MotorGroup<>(motor); sensor = new DigitalInput(INTAKE_SENSOR_ID); diff --git a/src/main/java/frc/robot/subsystems/Wrist.java b/src/main/java/frc/robot/subsystems/Wrist.java index 5913dc0..6584012 100644 --- a/src/main/java/frc/robot/subsystems/Wrist.java +++ b/src/main/java/frc/robot/subsystems/Wrist.java @@ -53,9 +53,9 @@ public class Wrist extends SubsystemBase { * Controllers: Normal PID Controller. */ public Wrist() { -// Motor motor = new TalonFxMotor(MotorUtil -// .initTalonFX(WRIST_MOTOR_ID, NeutralModeValue.Brake, InvertedValue.Clockwise_Positive)); - Motor motor = new FakeMotor(); + Motor motor = new TalonFxMotor(MotorUtil + .initTalonFX(WRIST_MOTOR_ID, NeutralModeValue.Brake, InvertedValue.Clockwise_Positive)); +// Motor motor = new FakeMotor(); motorGroup = new MotorGroup<>(motor); encoder = new DutyCycleEncoder(WRIST_ENCODER_ID); From c47f60ce8bbe9377d44d2c9fc6b25f3769097426 Mon Sep 17 00:00:00 2001 From: Connor Mulligan Date: Thu, 9 Oct 2025 19:35:14 -0500 Subject: [PATCH 2/2] Added outreach disabled display --- src/main/java/frc/robot/RobotContainer.java | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index ea8e91c..15a01bc 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -78,6 +78,10 @@ public class RobotContainer { @Key("Auto/Auto Wait Time") private static double autoWaitTime = 0; + @Entry(EntryType.Publisher) + @Key("Outreach/OutreachEnabled") + private static boolean outreachEnabled = false; + public RobotContainer() { // UsbCamera camera = CameraServer.startAutomaticCapture(); drivebase.setDefaultCommand(driveFieldOrientedAngularVelocity);