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Added small flywheel fix and talonfx reorg. #112

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Merged
thenetworkgrinch merged 1 commit into from
Mar 5, 2026
Merged

Added small flywheel fix and talonfx reorg. #112

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2 changes: 1 addition & 1 deletion yams/java/yams/mechanisms/velocity/FlyWheel.java
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Original file line number Diff line number Diff line change
Expand Up @@ -241,7 +241,7 @@ public <T> Command run(Supplier<T> velocity)
{
m_config.getCircumference(); // Circumference check
return Commands.startRun(m_smc::startClosedLoopController,
() -> m_config.getAngularVelocity((LinearVelocity) velocity.get()),
() -> m_smc.setVelocity(m_config.getAngularVelocity((LinearVelocity) velocity.get())),
m_subsystem)
.withName(cmdName);
}
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8 changes: 4 additions & 4 deletions yams/java/yams/motorcontrollers/remote/TalonFXWrapper.java
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Original file line number Diff line number Diff line change
Expand Up @@ -1368,8 +1368,8 @@ public void setMechanismUpperLimit(Angle upperLimit)
m_config.getMechanismLowerLimit().ifPresent(lowerLimit -> {
m_config.withSoftLimit(lowerLimit, upperLimit);
});
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitThreshold(upperLimit)
.withForwardSoftLimitEnable(true);
m_talonConfig.SoftwareLimitSwitch.withForwardSoftLimitEnable(true)
.withForwardSoftLimitThreshold(upperLimit);
forceConfigApply();
}

Expand All @@ -1379,8 +1379,8 @@ public void setMechanismLowerLimit(Angle lowerLimit)
m_config.getMechanismUpperLimit().ifPresent(upperLimit -> {
m_config.withSoftLimit(lowerLimit, upperLimit);
});
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitThreshold(lowerLimit)
.withReverseSoftLimitEnable(true);
m_talonConfig.SoftwareLimitSwitch.withReverseSoftLimitEnable(true)
.withReverseSoftLimitThreshold(lowerLimit);
forceConfigApply();
}

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