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Aditya/talon pivot #45

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7972832
created TalonPivot, need to implement closed loop controller
Aditya9246 Feb 18, 2025
b79a2ca
implemented TalonPivot
Aditya9246 Feb 19, 2025
5269007
Merge branch 'main' into Aditya/TalonPivot
Powerlax Sep 18, 2025
5bc2801
Update SonarCloud parameters in CI workflow
Powerlax Oct 26, 2025
f5c9bae
Enhance build command with stacktrace option
Powerlax Oct 26, 2025
25d3e37
Enhance Sonar analysis workflow with token validation
Powerlax Oct 26, 2025
b8e69a2
Refactor Sonar analysis workflow in pr.yml
Powerlax Oct 26, 2025
85b3b46
Update SONAR_PROJECT_KEY in workflow configuration
Powerlax Oct 26, 2025
710e0eb
Remove SonarCloud project key and organization
Powerlax Oct 26, 2025
3072353
Fix formatting in pr.yml permissions section
Powerlax Nov 4, 2025
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3 changes: 2 additions & 1 deletion .github/workflows/pr.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -12,7 +12,7 @@ jobs:
permissions:
actions: read
contents: write
security-events: write
security-events: write

strategy:
fail-fast: false
Expand Down Expand Up @@ -83,5 +83,6 @@ jobs:
env:
GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
SONAR_TOKEN: ${{ secrets.SONAR_TOKEN }}
SONAR_HOST_URL: https://sonarcloud.io
PACKAGE_FETCH_ACTOR: ${{ github.actor }}
PACKAGE_FETCH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
17 changes: 9 additions & 8 deletions src/main/java/poplib/subsytems/pivot/TalonPivot.java
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Original file line number Diff line number Diff line change
@@ -1,12 +1,7 @@
// Copyright (c) FIRST and other WPILib contributors.
// Open Source Software; you can modify and/or share it under the terms of
// the WPILib BSD license file in the root directory of this project.

package poplib.subsytems.pivot;

import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;

import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import poplib.control.FFConfig;
import poplib.motor.FollowerConfig;
Expand Down Expand Up @@ -35,7 +30,8 @@ public TalonPivot(MotorConfig leadConfig, FollowerConfig followerConfig, double
position = new PositionDutyCycle(0.0);
position.withSlot(leadMotor.getClosedLoopSlot().getValue());

resetToAbsolutePosition();
leadMotor.setPosition(0.0);

}

public boolean atSetpoint(double error, double setpoint) {
Expand All @@ -46,15 +42,20 @@ public double getError(double setpoint) {
return Math.abs(leadMotor.getPosition().getValueAsDouble() - setpoint);
}

public void updatePID() {
leadMotor.setControl(position.withPosition(super.setpoint.get()).withFeedForward(super.ff.getKg()));
}

@Override
public void log() {
super.log();
SmartDashboard.putNumber("Lead Position 2 " + getName(), leadMotor.getPosition().getValueAsDouble());
SmartDashboard.putNumber("Lead Position " + getName(), leadMotor.getPosition().getValueAsDouble());
}

@Override
public void periodic() {
pid.updatePID(leadMotor);
leadMotor.setControl(position.withPosition(super.setpoint.get()).withFeedForward(super.ff.getKg()));
leadMotor.setControl(position.withPosition(super.setpoint.get()).withFeedForward(super.ff.calculate(
Math.toRadians(leadMotor.getPosition().getValueAsDouble()),
0.0
Expand All @@ -65,4 +66,4 @@ public void periodic() {
public void resetToAbsolutePosition() {
leadMotor.setPosition(getAbsolutePosition());
}
}
}
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