48 lines
1.5 KiB
Java
48 lines
1.5 KiB
Java
package frc.robot.subsystems;
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import com.ctre.phoenix6.controls.VoltageOut;
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import com.ctre.phoenix6.hardware.TalonFX;
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import edu.wpi.first.math.MathUtil;
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import edu.wpi.first.networktables.NetworkTable;
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import edu.wpi.first.networktables.NetworkTableInstance;
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import edu.wpi.first.wpilibj2.command.SubsystemBase;
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import frc.robot.Constants;
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/**
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* 主 conveyor 的开环控制封装。
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*
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* 本赛季没有球检测传感器，持球状态由 Superstructure 按状态流程推断后
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* 写入这里（INDEXING 完成置位，射击/EJECT 后清空）；
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* 所有动作顺序判断都放在 Superstructure。
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*/
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public class ConveyorSubsystem extends SubsystemBase {
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public final TalonFX mainConveyor;
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private final VoltageOut voltageRequest = new VoltageOut(0);
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private final NetworkTable table = NetworkTableInstance.getDefault().getTable("Conveyor");
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private double voltage = 0.0;
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public ConveyorSubsystem() {
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mainConveyor = new TalonFX(Constants.Conveyor.mainConveyorID);
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}
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public void feedToShooter() {
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setVoltage(Constants.Conveyor.feedVoltage);
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}
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public void reverse() {
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setVoltage(Constants.Conveyor.reverseVoltage);
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}
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public void stop() {
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setVoltage(0.0);
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}
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public void setVoltage(double volts) {
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mainConveyor.setControl(voltageRequest.withOutput(volts));
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}
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@Override
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public void periodic() {
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table.getEntry("velocity").setDouble(mainConveyor.getVelocity().getValueAsDouble());
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table.getEntry("hasNote").setBoolean(notePresent);
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}
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}
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