Package com.alumiboti5590.eop.subsystems.drivetrain.tank

Class SparkMaxBrushlessTankDrive

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.alumiboti5590.eop.subsystems.drivetrain.tank.TankDrive

com.alumiboti5590.eop.subsystems.drivetrain.tank.SparkMaxBrushlessTankDrive

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class SparkMaxBrushlessTankDrive
extends TankDrive

A TankDrive implementation using Spark Max motor controllers to control brushless motors. Do not use this under any circumstances with brushed motors; this is designed for Neos, Neo 550s, and other brushless motors only.

Nested Class Summary

Nested classes/interfaces inherited from class com.alumiboti5590.eop.subsystems.drivetrain.tank.TankDrive

TankDrive.TeleopDriveType

Field Summary

Fields

Modifier and Type	Field	Description
static int	DEFAULT_CURRENT_LIMIT	Limit the motors to the following AMPS to prevent brownouts, trips, or too much power being drawn when it really isn't needed.
static double	DEFAULT_RAMP_RATE	The default ramp rate, meaning the motors will take this long (in seconds) to accelerate to full speed to prevent damage to the motor or subsystems.

Fields inherited from class com.alumiboti5590.eop.subsystems.drivetrain.tank.TankDrive

DEFAULT_TELEOP_DRIVE_TYPE

Constructor Summary

Constructors

Constructor	Description
SparkMaxBrushlessTankDrive(CANMotorConfig leftLeaderConfig, CANMotorConfig rightLeaderConfig, CANMotorConfig leftFollowerConfig, CANMotorConfig rightFollowerConfig)	Creates a new drivetrain from the provided motor and optionally provided encoders

Method Summary

Modifier and Type	Method	Description
void	resetOdometry()	Reset the encoders and gyroscope readings.
void	setAccelerationRampRate(double maxAccRate)	Sets the ramp rate for open loop control modes.
void	setCurrentLimit(int currentInAmps)	Sets the current limit in Amps.
void	setDrivetrainUsage(CANSparkMaxUtil.Usage desiredUsage)	The following allows us to save precious time in our 20ms robot loop by not evaluating the Spark Max values any more than we really need to.
void	setSidePIDGains(PIDGains gains)	Set the PID controller gains for both sides of the tank drive.

Methods inherited from class com.alumiboti5590.eop.subsystems.drivetrain.tank.TankDrive

configureDifferentialDrive, curvatureDrive, getTeleopDriveTypeSendableChooser, setCurvatureQuickTurnSupplier, setCurvatureSpeedSupplier, setCurvatureSteeringSupplier, setInvertCurvatureSteering, setSquareTeleopInputs, setTankDriveLeftSpeedSupplier, setTankDriveRightSpeedSupplier, setTeleopDriveType, stop, tankDrive, teleopOpenDrive

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

getCurrentCommand, getDefaultCommand, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd

Field Detail

DEFAULT_RAMP_RATE

public static final double DEFAULT_RAMP_RATE

The default ramp rate, meaning the motors will take this long (in seconds) to accelerate to full speed to prevent damage to the motor or subsystems. In drivetrains, this also helps to prevent flip-overs from sudden acceleration.

See Also:

Constant Field Values

DEFAULT_CURRENT_LIMIT

public static final int DEFAULT_CURRENT_LIMIT

Limit the motors to the following AMPS to prevent brownouts, trips, or too much power being drawn when it really isn't needed. This is a nice safety feature.

See Also:

Constant Field Values

Constructor Detail

SparkMaxBrushlessTankDrive

public SparkMaxBrushlessTankDrive(CANMotorConfig leftLeaderConfig,
                                  CANMotorConfig rightLeaderConfig,
                                  CANMotorConfig leftFollowerConfig,
                                  CANMotorConfig rightFollowerConfig)

Creates a new drivetrain from the provided motor and optionally provided encoders

Parameters:

leftLeaderConfig - configuration for the left leader motor controller

rightLeaderConfig - configuration for the right leader motor controller

leftFollowerConfig - configuration for the left follower motor controller

rightFollowerConfig - configuration for the right follower motor controller

Method Detail

setAccelerationRampRate

public void setAccelerationRampRate(double maxAccRate)

Description copied from class: TankDrive

Sets the ramp rate for open loop control modes.

This is the maximum rate at which the motor controller's output is allowed to change.

Specified by:

setAccelerationRampRate in class TankDrive

Parameters:

maxAccRate - Time in seconds to go from 0 to full throttle.

setCurrentLimit

public void setCurrentLimit(int currentInAmps)

Description copied from class: TankDrive

Sets the current limit in Amps.

The motor controller will reduce the controller voltage output to avoid surpassing this limit. This limit is enabled by default and used for brushless only. This limit is highly recommended when brushless motors, but it also helps to avoid brownouts in any situation.

Specified by:

setCurrentLimit in class TankDrive

Parameters:

currentInAmps - The current limit in Amps.

setSidePIDGains

public void setSidePIDGains(PIDGains gains)

Description copied from class: TankDrive

Set the PID controller gains for both sides of the tank drive. Note that the actual effect will be determined by the motors used (Neos + Spark Max's have a lot more control because of their built-in encoder) but it tries to be fairly equal enough for a drivetrain to work.

Specified by:

setSidePIDGains in class TankDrive

Parameters:

gains - desired PID gains

setDrivetrainUsage

public void setDrivetrainUsage(CANSparkMaxUtil.Usage desiredUsage)

The following allows us to save precious time in our 20ms robot loop by not evaluating the Spark Max values any more than we really need to. It's recommended to set this (although the code might do it automatically) before switching up the drive mode between position-based, velocity-based, or open.

Parameters:

desiredUsage - the short-term desired usage for the motor

resetOdometry

public void resetOdometry()

Description copied from class: TankDrive

Reset the encoders and gyroscope readings.

Specified by:

resetOdometry in class TankDrive