• https://team2168.org/javadoc/com/revrobotics/CANSparkMax.html

  • https://team2168.org/javadoc/com/revrobotics/SparkMaxPIDController.html

  • Initialize sparkmax, mechanism sensors

  • Initalize armPIDController

  • init

    • factory defaults
    • clear Faults
    • voltage compensation
    • current limit
    • idle mode
    • inverted
    • open loop ramp rate
    • burn flash
    • motor checker (falconspin, motorchecker.kt)
      • motor collection (falconspint, motorcollection.kt)

  • updateInputs

  • setRollerPower, setArmVoltage

    • setVoltage
    • clamp

  • setArmPosition

    • value uses sensor position + clamp

      Screenshot 2024-12-13 at 3.22.58 PM.png

  • zeroEncoder

    • use arm spark max

  • configPID

    • Parameters are PID
    • use armPIDController and armSensor

  • setRollerBrakeMode, setArmBrakeMode

    • if break → idleMode = kBreak
    • else → idleMode = kCoast