change talon to talon srx

Evolution2626 · Feb 1, 2024 · e8e1c7c · e8e1c7c
1 parent c7fe767
commit e8e1c7c
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Showing 2 changed files with 159 additions and 7 deletions.
diff --git a/src/main/java/frc/robot/subsystems/ClimberInAnBox.java b/src/main/java/frc/robot/subsystems/ClimberInAnBox.java
@@ -4,25 +4,26 @@
 
 package frc.robot.subsystems;
 
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj.DoubleSolenoid;
 import edu.wpi.first.wpilibj.PneumaticsModuleType;
-import edu.wpi.first.wpilibj.motorcontrol.Talon;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.OperatorConstants;
 import frc.robot.Constants.PCM;
 
 public class ClimberInAnBox extends SubsystemBase {
-  private Talon climberDroit;
-  private Talon climberGauche;
+  private TalonSRX climberDroit;
+  private TalonSRX climberGauche;
   private DoubleSolenoid piston1;
   private DoubleSolenoid piston2;
 
   /** Creates a new ClimberInAnBox. */
   public ClimberInAnBox() {
     OperatorConstants deviceNumber = new OperatorConstants();
     PCM pcm = new PCM();
-    climberDroit = new Talon(deviceNumber.DeviceNumberClimberDroit);
-    climberGauche = new Talon(deviceNumber.DeviceNumberClimberGauche);
+    climberDroit = new TalonSRX(deviceNumber.DeviceNumberClimberDroit);
+    climberGauche = new TalonSRX(deviceNumber.DeviceNumberClimberGauche);
 
     climberDroit.setInverted(false);
     climberGauche.setInverted(false);
@@ -43,8 +44,8 @@ public ClimberInAnBox() {
   }
 
   public void climb(double droit, double gauche) {
-    climberDroit.set(droit);
-    climberGauche.set(gauche);
+    climberDroit.set(ControlMode.PercentOutput, droit);
+    climberGauche.set(ControlMode.PercentOutput, gauche);
   }
 
   public void activateRatchet() {

diff --git a/vendordeps/Phoenix5.json b/vendordeps/Phoenix5.json
@@ -0,0 +1,151 @@
+{
+    "fileName": "Phoenix5.json",
+    "name": "CTRE-Phoenix (v5)",
+    "version": "5.33.0",
+    "frcYear": 2024,
+    "uuid": "ab676553-b602-441f-a38d-f1296eff6537",
+    "mavenUrls": [
+        "https://maven.ctr-electronics.com/release/"
+    ],
+    "jsonUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix/Phoenix5-frc2024-latest.json",
+    "requires": [
+        {
+            "uuid": "e995de00-2c64-4df5-8831-c1441420ff19",
+            "errorMessage": "Phoenix 5 requires low-level libraries from Phoenix 6.  Please add the Phoenix 6 vendordep before adding Phoenix 5.",
+            "offlineFileName": "Phoenix6.json",
+            "onlineUrl": "https://maven.ctr-electronics.com/release/com/ctre/phoenix6/latest/Phoenix6-frc2024-latest.json"
+        }
+    ],
+    "javaDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-java",
+            "version": "5.33.0"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-java",
+            "version": "5.33.0"
+        }
+    ],
+    "jniDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.0",
+            "isJar": false,
+            "skipInvalidPlatforms": true,
+            "validPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ],
+    "cppDependencies": [
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "wpiapi-cpp",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix_WPI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "api-cpp",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix",
+            "artifactId": "cci",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixCCI",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "linuxathena"
+            ],
+            "simMode": "hwsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "wpiapi-cpp-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_Phoenix_WPISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "api-cpp-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixSim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        },
+        {
+            "groupId": "com.ctre.phoenix.sim",
+            "artifactId": "cci-sim",
+            "version": "5.33.0",
+            "libName": "CTRE_PhoenixCCISim",
+            "headerClassifier": "headers",
+            "sharedLibrary": true,
+            "skipInvalidPlatforms": true,
+            "binaryPlatforms": [
+                "windowsx86-64",
+                "linuxx86-64",
+                "osxuniversal"
+            ],
+            "simMode": "swsim"
+        }
+    ]
+}