D&F would like to switch from the 2x775 motor assembly to use a single Rev Robotics NEO brushless motor controlled by a Spark Max motor controller.
This will require the shooter subsystem to be modified. The commands and general structure don't need to change. The good news is that the Spark Max has a pretty good software API, examples on GitHub, and control of a single motor with a built-in encoder is quite easy. (Possibly even easier than what we were going to do with the 2x775 approach)
It's also quite comparable to the Talon SRX code from CTRE, so it should look fairly familiar.
You will also need to download the Spark Max libraries to your computer, change the build.gradle to point to those new vendor libraries.
To test, we will either get a standalone NEO and Spark Max to connect to one of the robots, or we will switch out the existing CIM motor in the prototype fuel shooter.
D&F would like to switch from the 2x775 motor assembly to use a single Rev Robotics NEO brushless motor controlled by a Spark Max motor controller.
This will require the shooter subsystem to be modified. The commands and general structure don't need to change. The good news is that the Spark Max has a pretty good software API, examples on GitHub, and control of a single motor with a built-in encoder is quite easy. (Possibly even easier than what we were going to do with the 2x775 approach)
It's also quite comparable to the Talon SRX code from CTRE, so it should look fairly familiar.
See here for example code:
https://github.com/REVrobotics/SPARK-MAX-Examples/tree/master/Java/Velocity%20Closed%20Loop%20Control
You will also need to download the Spark Max libraries to your computer, change the build.gradle to point to those new vendor libraries.
To test, we will either get a standalone NEO and Spark Max to connect to one of the robots, or we will switch out the existing CIM motor in the prototype fuel shooter.