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created a PID for the pivot (im geekin)

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Abhishrek05
2024-02-07 18:53:57 -07:00
parent be979b9432
commit 5ceca118c7
3 changed files with 27 additions and 0 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+22
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@@ -6,21 +6,43 @@ package frc4388.robot.subsystems;
import com.revrobotics.CANSparkMax;
import com.revrobotics.SparkLimitSwitch;
import com.revrobotics.SparkPIDController;
import com.revrobotics.RelativeEncoder;
import edu.wpi.first.wpilibj.CAN;
import edu.wpi.first.wpilibj.motorcontrol.Spark;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.Constants;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.commands.PID;
import frc4388.utility.Gains;
public class Intake extends SubsystemBase {
private CANSparkMax intakeMotor;
private CANSparkMax pivot;
private SparkPIDController m_spedController;
private static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
private SparkLimitSwitch forwardLimit;
private SparkLimitSwitch reverseLimit;
/** Creates a new Intake. */
public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
this.intakeMotor = intakeMotor;
this.pivot = pivot;
pivot.restoreFactoryDefaults();
forwardLimit = pivot.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyClosed);
reverseLimit = pivot.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyClosed);
forwardLimit.enableLimitSwitch(true);
reverseLimit.enableLimitSwitch(true);
//Arm PID
m_spedController = intakeMotor.getPIDController();
m_spedController.setP(armGains.kP);
m_spedController.setI(armGains.kI);
m_spedController.setD(armGains.kD);
}
//hanoff