Team4388/2024AcrossTheRidgebotiverse
1
0
Fork 0
mirror of https://github.com/Team4388/2024AcrossTheRidgebotiverse.git synced 2026-06-09 08:48:03 -06:00
Code Issues Packages Projects Releases Wiki Activity

micha;

Browse Source
This commit is contained in:
Abhishrek05
2024-03-11 15:44:32 -06:00
parent 19197b5850
commit 2dd1fe72e5
8 changed files with 105 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/Intake.java
+33 -2
View File
@@ -26,6 +26,7 @@ import com.revrobotics.SparkLimitSwitch;
import com.revrobotics.SparkPIDController;
import com.revrobotics.RelativeEncoder;
import edu.wpi.first.wpilibj.CAN;
import edu.wpi.first.wpilibj.GenericHID.RumbleType;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj.motorcontrol.Talon;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
@@ -35,6 +36,7 @@ import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.commands.PID;
import frc4388.utility.Gains;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.controller.DeadbandedXboxController;
public class Intake extends SubsystemBase {
@@ -52,6 +54,9 @@ public class Intake extends SubsystemBase {
private TalonFX talonPivot;
private CANcoder encoder;
private DeadbandedXboxController m_driverXbox;
private DeadbandedXboxController m_operatorXbox;
private boolean r;
private HardwareLimitSwitchConfigs l;
@@ -96,14 +101,17 @@ public class Intake extends SubsystemBase {
// }
//For Talon
public Intake(TalonFX talonIntake, TalonFX talonPivot) {
public Intake(TalonFX talonIntake, TalonFX talonPivot, DeadbandedXboxController driverXbox, DeadbandedXboxController operatorXbox) {
this.talonIntake = talonIntake;
this.talonPivot = talonPivot;
this.m_driverXbox = driverXbox;
this.m_operatorXbox = operatorXbox;
talonIntake.getConfigurator().apply(new TalonFXConfiguration());
talonPivot.getConfigurator().apply(new TalonFXConfiguration());
talonIntake.setNeutralMode(NeutralModeValue.Brake);
talonIntake.setNeutralMode(NeutralModeValue.Coast);
talonPivot.setNeutralMode(NeutralModeValue.Brake);
// talonPivot.getConfigurator().apply(new HardwareLimitSwitchConfigs());
@@ -323,6 +331,8 @@ public class Intake extends SubsystemBase {
// }
// }
private int rumbleTime = 0;
@Override
public void periodic() {
// This method will be called once per scheduler run
@@ -336,5 +346,26 @@ public class Intake extends SubsystemBase {
SmartDashboard.putNumber("Pivot Position", getArmPos());
smartDashboardOuttakeValue = SmartDashboard.getNumber("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
// if(getTalonIntakeLimitSwitchState()){
// rumbleTime = 1000;
// m_driverXbox.setRumble(RumbleType.kLeftRumble, 1.0);
// m_driverXbox.setRumble(RumbleType.kRightRumble, 1.0);
// m_operatorXbox.setRumble(RumbleType.kLeftRumble, 1.0);
// m_operatorXbox.setRumble(RumbleType.kRightRumble, 1.0);
// // m_hid.setRumble(RumbleType.kLeftRumble, 0.0);
// // m_hid.setRumble(RumbleType.kRightRumble, 0.0);
// }
// if(rumbleTime > 0){
// rumbleTime--;
// if(rumbleTime <= 0){
// rumbleTime = 0;
// m_driverXbox.setRumble(RumbleType.kLeftRumble, 0);
// m_driverXbox.setRumble(RumbleType.kRightRumble, 0);
// m_operatorXbox.setRumble(RumbleType.kLeftRumble, 0);
// m_operatorXbox.setRumble(RumbleType.kRightRumble, 0);
// }
// }
}
}