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Wrist Subsystem

A subsystem that controls a single-jointed wrist mechanism capable of rotating to specific angles for game piece manipulation.

Constructor Details

public WristSubsystem(WristIO io)
- io: Hardware abstraction interface for the wrist. Can be either: - WristIOTalonFXReal: For real robot hardware using TalonFX motor controller - WristIOTalonFXSim: For simulation using WPILib's physics simulation

Commands

The wrist subsystem is used by the following commands: - DefaultWristOpenLoop - WristRunToAngle

Configuration Requirements

  1. Hardware Configuration:

    • TalonFX motor controller with proper CAN ID
    • CANCoder absolute encoder with proper CAN ID
    • Proper gear ratio configuration (ROTOR_TO_SENSOR_RATIO)
    • Correct motor and encoder direction settings

  2. Control Parameters:

    • PID gains for both velocity and position control modes
    • Current limits and safety thresholds
    • Motion constraints (min/max angles, speed limits)
    • Gravity compensation parameters

  3. Setpoint Configurations:

    • Various angle presets for different positions (stowed, ground intake, scoring positions)
    • Proper absolute encoder offset calibration

Reference Documentation