From 8ee0a36499aa69084606a3b8de6ff6b8e4485b89 Mon Sep 17 00:00:00 2001 From: Orcasphynx Date: Fri, 5 Apr 2024 11:04:05 -0400 Subject: [PATCH] Less chatty motors --- src/main/java/frc/robot/subsystems/Climber.java | 7 ++++++- src/main/java/frc/robot/subsystems/ShooterSubsystem.java | 4 +++- 2 files changed, 9 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Climber.java b/src/main/java/frc/robot/subsystems/Climber.java index e56c83f..1158a46 100644 --- a/src/main/java/frc/robot/subsystems/Climber.java +++ b/src/main/java/frc/robot/subsystems/Climber.java @@ -101,6 +101,11 @@ public Climber() { m_climberMotor.getConfigurator().apply(m_motionMagicConfigs); + m_climberMotor.getDeviceTemp().setUpdateFrequency(2); + m_climberMotor.getVelocity().setUpdateFrequency(2); + m_climberMotor.getStatorCurrent().setUpdateFrequency(2); + m_climberMotor.getPosition().setUpdateFrequency(2); + } public double getPositionRevolutions(){ @@ -134,5 +139,5 @@ public void periodic() { velocity = m_climberMotor.getVelocity().getValueAsDouble(); current = m_climberMotor.getStatorCurrent().getValueAsDouble(); position = m_climberMotor.getPosition().getValueAsDouble(); - } + } } diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java index 4e5670b..df42829 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -260,7 +260,9 @@ private void configurePositionMotor(TalonFX motor, mmConfig.MotionMagicJerk = ShooterConstants.MOTION_MAGIC_JERK; configurator.apply(mmConfig); - + + motor.getDeviceTemp().setUpdateFrequency(2); + motor.getTorqueCurrent().setUpdateFrequency(2); } private void configureCancoder(CANcoder cancoder){