Add Motor Controller (CTRE)

Create a Motor Controller:

After creating a robot project, you need to import the motor controller libraries and declare motors. The following creates a Falcon 500 motor controllers called motor 1 in a class called Shooter. The motor has previously been assigned CAN ID 2.

If using talonSRX's, replace TalonFX with TalonSRX. .

package frc.robot;

import com.ctre.phoenix.motorcontrol.can.TalonFX;

public class Shooter{

    TalonFX motor1 = new TalonFX(2);

    Shooter(){

         motor1.configFactoryDefault();

    }

To run the motor, use

br.set(ControlMode.mode, value)

where mode is PercentOutput, Velocityt, Position, or one of the other available control modes. Value is the motor output scaled from -1 to +1. Use PercentOutput unless you are using feedback from a sensor. The value can come from a joystick input or set in the program.

Other settings:

There are a number of setting we want to apply, which can be done in the constructor. The settings you need depend on what you are doing. The drive system motors need all of these. A motor that just spins a shooter wheel with no encoder feedback may just need to have factory default settings applied.

• br.configFactoryDefault() - sets all parameters to default. This is a good idea so there are no suprises from someone else's previous code.
• motor.setNeutralMode(NeutralMode.Brake) - puts the motor into brake mode. If input is zero, the motor will resist coasting to a stop.
• motor.configVoltageCompSaturation(12) - scales power to motor to 12 volts, even if a higher voltage is available from the battery.
• br.setInverted(true); changes the direction the motor spins when positive output is requested. We usually invert either the right or left side of a drive system because the motors are facing in opposite directions.
• motor.setInverted(true) - switches whether sensor value increases or decreases with positive motor output. Sensor and motor should be in phase. For example - positive output from a drive motor (moving forward) should result in encoder distance increasing, not decreasing. If your sensor is out of phase, change the boolean between true and false.
• motor1.follow(motor2) - A motor can be assigned to follow another. Here, motor1 follows motor2. Whatever output is applied to motor 2 will also be applied to motor 1. We usually do this if there are two drive motors attached to the same gearbox. Now we never need to set motor1.
• motor.configClosedLoopPeriod(0, 1,20) - loop time for PID calculations. This sets PID loop 0 to have a loop time of 1 millisecond.
• motor.setStatusFramePeriod - see CTRE documentation
• motor.config_kP(0, 0.2) - set the kP PID coefficient for loop 0 to 0.2. You can also set kI, kD, kIz
• motor.configClosedLoopPeakOutput(0,1) - The max output allowed for motor during closed loop operation. This caps the output for PID 0 to +/- 1 volt.

bl.config_kP(0, 0.2);

// restore factory default settings

br.configFactoryDefault();

fr.configFactoryDefault();

bl.configFactoryDefault();

fl.configFactoryDefault();

// Set Brake Mode;

bl.setNeutralMode(NeutralMode.Brake);

br.setNeutralMode(NeutralMode.Brake);

fl.setNeutralMode(NeutralMode.Brake);

fr.setNeutralMode(NeutralMode.Brake);

// set Voltage Compensation Mode

br.configVoltageCompSaturation(12);

bl.configVoltageCompSaturation(12);

fr.configVoltageCompSaturation(12);

bl.configVoltageCompSaturation(12);

// invert the right side

br.setInverted(true);

fr.setInverted(true);

bl.setInverted(false);

fl.setInverted(false);

// set the sensor phase (repeat for other motors as needed.

bl.setSensorPhase(true);

br.setSensorPhase(true);

// front follows back

fr.follow(br);

fl.follow(bl);

// set closed loop period for PID loop 0 to 1 millisecond    

bl.configClosedLoopPeriod(0, 1,20);

br.configClosedLoopPeriod(0, 1,20);

// Set relevant frame periods */  (from CTRE Githib examples)

br.setStatusFramePeriod(StatusFrame.Status_12_Feedback1, 20, 20);

br.setStatusFramePeriod(StatusFrame.Status_13_Base_PIDF0, 20, 20);

br.setStatusFramePeriod(StatusFrame.Status_14_Turn_PIDF1, 20,20);

br.setStatusFramePeriod(StatusFrame.Status_10_Targets, 20,20);

br.setStatusFramePeriod(StatusFrame.Status_2_Feedback0, 5, 20);               

gyro.setStatusFramePeriod(PigeonIMU_StatusFrame.CondStatus_9_SixDeg_YPR , 5, 20);

// load PID gains into slot 0, repeat for other motors as needed

bl.config_kP(0, 0.2);

bl.config_kI(0, 0);bl.config_kD(0, 0);

bl.config_IntegralZone(0, 50);

bl.config_kF(0, 2.15);

bl.configClosedLoopPeakOutput(0,1);

// use the velocity PID gains in slot 0 for PID loop 0     

br.selectProfileSlot(0, 0);

bl.selectProfileSlot(0, 0);

Settings for Using Sensors:

see this section