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Update Intake.java

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This commit is contained in:
aborunda
2022-01-21 17:09:57 -07:00
parent 5b14ed76ec
commit 1e498bef56
1 changed files with 32 additions and 10 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+32 -10
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@@ -4,19 +4,42 @@
package frc4388.robot.subsystems;
import com.ctre.phoenix.motorcontrol.NeutralMode;
import com.ctre.phoenix.motorcontrol.can.WPI_TalonFX;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkMaxLimitSwitch;
import com.revrobotics.CANSparkMax.IdleMode;
public class Intake extends SubsystemBase {
private WPI_TalonFX m_intakeMotor;
private WPI_TalonFX m_extenderMotor;
private CANSparkMax m_extenderMotor;
private SparkMaxLimitSwitch m_inLimit;
private SparkMaxLimitSwitch m_outLimit;
public boolean toggle;
/** Creates a new Intake. */
public Intake(WPI_TalonFX intakeMotor, WPI_TalonFX extenderMotor) {
public Intake(WPI_TalonFX intakeMotor, Spark extenderMotor) {
m_intakeMotor = intakeMotor;
m_extenderMotor = extenderMotor;
//m_extenderMotor = extenderMotor;
// m_intakeMotor.restoreFactoryDefaults();
// m_extenderMotor.restoreFactoryDefaults();
m_intakeMotor.setNeutralMode(NeutralMode.Brake);
m_extenderMotor.setIdleMode(IdleMode.kBrake);
m_intakeMotor.setInverted(false);
m_extenderMotor.setInverted(true);
m_inLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_outLimit = m_extenderMotor.getForwardLimitSwitch(SparkMaxLimitSwitch.Type.kNormallyOpen);
m_inLimit.enableLimitSwitch(true);
m_outLimit.enableLimitSwitch(true);
}
@Override
@@ -29,12 +52,11 @@ public class Intake extends SubsystemBase {
}
public void runExtender(boolean extended) {
m_extenderMotor.set(extended ? 1 : -1);
//m_extenderMotor.set(extended ? 1 : -1);
}
}
/*
Function toggle extender
bool = !bool
Configure limit switches forward and reverse
*/
public void toggleExtender() {
toggle = !toggle;
runExtender(toggle);
}
}