chnaged some stuff

blair-robot-project · Feb 9, 2025 · e6facb4 · e6facb4
1 parent 82b0d18
commit e6facb4
Show file tree

Hide file tree

Showing 2 changed files with 16 additions and 20 deletions.
diff --git a/src/main/kotlin/frc/team449/subsystems/superstructure/elevator/Elevator.kt b/src/main/kotlin/frc/team449/subsystems/superstructure/elevator/Elevator.kt
@@ -7,7 +7,6 @@ import com.ctre.phoenix6.controls.MotionMagicVoltage
 import com.ctre.phoenix6.hardware.TalonFX
 import edu.wpi.first.units.Units.*
 import edu.wpi.first.util.sendable.SendableBuilder
-import edu.wpi.first.wpilibj.PowerDistribution
 import edu.wpi.first.wpilibj.RobotBase
 import edu.wpi.first.wpilibj.smartdashboard.Mechanism2d
 import edu.wpi.first.wpilibj.smartdashboard.MechanismLigament2d
@@ -19,7 +18,6 @@ import frc.team449.subsystems.superstructure.SuperstructureGoal
 import frc.team449.subsystems.superstructure.wrist.WristConstants
 import java.util.function.Supplier
 import kotlin.math.abs
-import frc.team449.subsystems.superstructure.PowerManager
 import frc.team449.subsystems.superstructure.powerDistribution
 
 open class Elevator(
@@ -128,7 +126,7 @@ open class Elevator(
       config.CurrentLimits.StatorCurrentLimitEnable = true
       config.CurrentLimits.SupplyCurrentLimitEnable = true
       config.CurrentLimits.StatorCurrentLimit = ElevatorConstants.STATOR_LIM
-      config.CurrentLimits.SupplyCurrentLimit = powerDistribution.adjustPowerDistribution
+      config.CurrentLimits.SupplyCurrentLimit = powerDistribution.elevatorSUPPLY_LIM
 
       /** If we gonna have FOC in the future
        config.TorqueCurrent.PeakForwardTorqueCurrent = torqueCurrentLimit.`in`(Amps)

diff --git a/src/main/kotlin/frc/team449/subsystems/superstructure/powerDistribution.kt b/src/main/kotlin/frc/team449/subsystems/superstructure/powerDistribution.kt
@@ -2,15 +2,13 @@ package frc.team449.subsystems.superstructure
 
 import com.ctre.phoenix6.configs.TalonFXConfiguration
 import edu.wpi.first.wpilibj.PowerDistribution
-import frc.team449.Robot
 import frc.team449.subsystems.superstructure.elevator.Elevator
 import frc.team449.subsystems.superstructure.elevator.ElevatorConstants
 import frc.team449.subsystems.superstructure.pivot.Pivot
 import frc.team449.subsystems.superstructure.wrist.Wrist
 
 
 class powerDistribution(
-  val robot: Robot,
   private val pdh: PowerDistribution,
   private val pivotMotor: Pivot,
   private val elevatorMotor: Elevator,
@@ -22,8 +20,8 @@ class powerDistribution(
     private val wristChannel = 2
 
     //stator limit for motor
-    private val supplyCurrentLimit = 40.0
-    private val statorCurrentLimit = 80.0
+    private val SUPPLY_LIM = 40.0
+    private val STATOR_LIM = 80.0
 
 
     // get how much is being drawn
@@ -36,34 +34,34 @@ class powerDistribution(
         val elevatorCurrent = getMotorCurrentUsage(elevatorChannel)
         val wristCurrent = getMotorCurrentUsage(wristChannel)
 
-
         // Total current being drawn
         val totalCurrent = pivotCurrent + elevatorCurrent + wristCurrent
+        val idealTotalCurrent = SUPPLY_LIM * 6 // fix this 6 motors but only 3 mechanisms
 
-        val idealTotalCurrent = supplyCurrentLimit * 6 // fix this 6 motors but only 3 mechanisms
 
-        val config = TalonFXConfiguration()
+      val config = TalonFXConfiguration()
 
 
-fun elevatorset() {
-  if (pivotCurrent < 0 || wristCurrent < 0 || elevatorCurrent > 0.5) {
-    config.CurrentLimits.SupplyCurrentLimit = ElevatorConstants.SUPPLY_LIM * 1.5
-  }
-}
 
-      if (wristCurrent > 0 || elevatorCurrent > 0) {
-        wristMotor.config.CurrentLimits.SupplyCurrentLimit = ElevatorConstants.SUPPLY_LIM * 1.5
+      fun elevatorSUPPLY_LIM(){
+        if (pivotCurrent < 0 || wristCurrent < 0 || elevatorCurrent > 0.5) {
+          config.CurrentLimits.SupplyCurrentLimit = SUPPLY_LIM * 1.5
+        } else{
+          config.CurrentLimits.SupplyCurrentLimit = SUPPLY_LIM
+        }
       }
 
-      if (pivotCurrent > 0 || wristCurrent > 0) {
-        pivotMotor.config.CurrentLimits.SupplyCurrentLimit = ElevatorConstants.SUPPLY_LIM * 1.5
-      }
+
+
+
+
 
 
         }
 
     fun runPowerManagement() {
         adjustPowerDistribution()
     }
+
 }