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intake stuff works, still need to create command for handoff (im geekin)

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Abhishrek05
2024-02-10 13:11:30 -07:00
parent 96d612b9a1
commit 91343469bd
4 changed files with 58 additions and 24 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+18 -1
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@@ -25,6 +25,12 @@ public class Intake extends SubsystemBase {
private static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
private SparkLimitSwitch forwardLimit;
private SparkLimitSwitch reverseLimit;
private SparkLimitSwitch intakeforwardLimit;
private SparkLimitSwitch intakereverseLimit;
private Shooter shooter;
/** Creates a new Intake. */
public Intake(CANSparkMax intakeMotor, CANSparkMax pivot) {
@@ -38,7 +44,14 @@ public class Intake extends SubsystemBase {
reverseLimit = pivot.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
forwardLimit.enableLimitSwitch(true);
reverseLimit.enableLimitSwitch(true);
intakeMotor.restoreFactoryDefaults();
intakeforwardLimit = intakeMotor.getForwardLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
intakereverseLimit = intakeMotor.getReverseLimitSwitch(SparkLimitSwitch.Type.kNormallyOpen);
intakeforwardLimit.enableLimitSwitch(true);
intakereverseLimit.enableLimitSwitch(false);
//Arm PID
m_spedController = pivot.getPIDController();
@@ -70,13 +83,17 @@ public class Intake extends SubsystemBase {
}
public void pidOut() {
m_spedController.setReference(-8000, CANSparkMax.ControlType.kVelocity);
}
public void handoff() {
intakeMotor.set(-IntakeConstants.INTAKE_SPEED);
intakeMotor.set(-IntakeConstants.INTAKE_OUT_SPEED);
}
public void stopIntakeMotors() {
intakeMotor.set(0);
}