EVERYBOT-2025/src/main/java/com/stuypulse/robot/constants/Motors.java at 3a4130f6f59a1c0128ed0586e2fc45df140d3c6a · StuyPulse/EVERYBOT-2025 · GitHub

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/************************ PROJECT PHIL ************************/
/* Copyright (c) 2024 StuyPulse Robotics. All rights reserved.*/
/* This work is licensed under the terms of the MIT license.  */
/**************************************************************/
package com.stuypulse.robot.constants;

import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX;
import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
import com.revrobotics.spark.config.SparkBaseConfig;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;

/**
 * File containing all of the configurations that different motors require.
 *
 * Such configurations include:
 *  - If it is Inverted
 *  - The Idle Mode of the Motor
 *  - The Current Limit
 *  - The Open Loop Ramp Rate
 */
public interface Motors {
    public interface PivotConfig {
        SparkBaseConfig PIVOT_ROLLER_MOTOR_CONFIG = new SparkMaxConfig().smartCurrentLimit(Settings.Pivot.PIVOT_ROLLER_MOTOR_CURRENT_LIMIT).idleMode(IdleMode.kBrake);
        SparkBaseConfig PIVOT_MOTOR_CONFIG = new SparkMaxConfig().smartCurrentLimit(Settings.Pivot.PIVOT_MOTOR_CURRENT_LIMIT).idleMode(IdleMode.kBrake);
    }

    public interface ClimbConfig {
        SparkBaseConfig CLIMB_MOTOR_CONFIG = new SparkMaxConfig().smartCurrentLimit(Settings.Climb.CLIMB_CURRENT_LIMIT).idleMode(IdleMode.kBrake);
    }

    public interface DrivetrainConfig {
        SparkBaseConfig DRIVETRAIN_MOTOR_CONFIG = new SparkMaxConfig().smartCurrentLimit(Settings.Drivetrain.DRIVE_MOTOR_CURRENT_LIMIT).idleMode(IdleMode.kBrake);
    }

    /** Classes to store all of the values a motor needs */

    public static class TalonSRXConfig {
        public final boolean INVERTED;
        public final NeutralMode NEUTRAL_MODE;
        public final int PEAK_CURRENT_LIMIT_AMPS;
        public final double OPEN_LOOP_RAMP_RATE;

        public TalonSRXConfig(
                boolean inverted,
                NeutralMode neutralMode,
                int peakCurrentLimitAmps,
                double openLoopRampRate) {
            this.INVERTED = inverted;
            this.NEUTRAL_MODE = neutralMode;
            this.PEAK_CURRENT_LIMIT_AMPS = peakCurrentLimitAmps;
            this.OPEN_LOOP_RAMP_RATE = openLoopRampRate;
        }

        public TalonSRXConfig(boolean inverted, NeutralMode neutralMode, int peakCurrentLimitAmps) {
            this(inverted, neutralMode, peakCurrentLimitAmps, 0.0);
        }

        public TalonSRXConfig(boolean inverted, NeutralMode neutralMode) {
            this(inverted, neutralMode, 80);
        }

        public void configure(WPI_TalonSRX motor) {
            motor.setInverted(INVERTED);
            motor.setNeutralMode(NEUTRAL_MODE);
            motor.configContinuousCurrentLimit(PEAK_CURRENT_LIMIT_AMPS - 10, 0);
            motor.configPeakCurrentLimit(PEAK_CURRENT_LIMIT_AMPS, 0);
            motor.configPeakCurrentDuration(100, 0);
            motor.enableCurrentLimit(true);
            motor.configOpenloopRamp(OPEN_LOOP_RAMP_RATE);
        }
    }

    public static class VictorSPXConfig {
        public final boolean INVERTED;
        public final NeutralMode NEUTRAL_MODE;
        public final double OPEN_LOOP_RAMP_RATE;

        public VictorSPXConfig(
                boolean inverted,
                NeutralMode neutralMode,
                double openLoopRampRate) {
            this.INVERTED = inverted;
            this.NEUTRAL_MODE = neutralMode;
            this.OPEN_LOOP_RAMP_RATE = openLoopRampRate;
        }

        public VictorSPXConfig(boolean inverted, NeutralMode neutralMode) {
            this(inverted, neutralMode, 0.0);
        }

        public void configure(WPI_VictorSPX motor) {
            motor.setInverted(INVERTED);
            motor.setNeutralMode(NEUTRAL_MODE);
            motor.configOpenloopRamp(OPEN_LOOP_RAMP_RATE);
        }
    }
}