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Intake fixes

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This commit is contained in:
ryan123rudder
2022-03-05 22:57:55 -07:00
parent 77e4ea1240
commit 0e063176cd
5 changed files with 65 additions and 50 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+10 -3
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@@ -20,15 +20,17 @@ public class Intake extends SubsystemBase {
private WPI_TalonFX m_intakeMotor;
private CANSparkMax m_extenderMotor;
private Serializer m_serializer;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Intake. */
public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor) {
public Intake(WPI_TalonFX intakeMotor, CANSparkMax extenderMotor, Serializer serializer) {
m_intakeMotor = intakeMotor;
m_extenderMotor = extenderMotor;
m_serializer = serializer;
m_extenderMotor.restoreFactoryDefaults();
@@ -59,9 +61,15 @@ public class Intake extends SubsystemBase {
* @param extended Wether the Extender Is Extended
*/
public void runExtender(boolean extended) { //TODO: Do not bring intake in if there is a ball in the extender (check if intake being in brakes the beam brake?)
double extenderMotorSpeed = extended ? 0.25d : 0.d;
if (!m_serializer.getBeam() && !extended) return;
double extenderMotorSpeed = extended ? 0.25d : -0.25d;
m_extenderMotor.set(extenderMotorSpeed);
}
public void runExtender(double input) {
if (!m_serializer.getBeam() && input < 0.) return;
m_extenderMotor.set(input);
}
/**
* Toggles The Extender
*/
@@ -69,5 +77,4 @@ public class Intake extends SubsystemBase {
toggle = !toggle;
runExtender(toggle);
}
//Test
}