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Neo Auto recording system.

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This commit is contained in:
Abhishrek05
2024-03-07 19:22:41 -07:00
parent d0b5c15c2d
commit ffcbbf39ad
4 changed files with 84 additions and 74 deletions
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src/main/java/frc4388/robot/subsystems/Intake.java
+3 -3
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@@ -34,6 +34,7 @@ import frc4388.robot.Constants;
import frc4388.robot.Constants.IntakeConstants;
import frc4388.robot.commands.PID;
import frc4388.utility.Gains;
import frc4388.utility.configurable.ConfigurableDouble;
public class Intake extends SubsystemBase {
@@ -57,9 +58,8 @@ public class Intake extends SubsystemBase {
TalonFXConfiguration doodooController = new TalonFXConfiguration();
public static Gains armGains = IntakeConstants.ArmPID.INTAKE_GAINS;
private ConfigurableDouble outtakeSpeed = new ConfigurableDouble("Outtake Speed", IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
private BooleanSupplier sup = () -> true;
private BooleanSupplier dup = () -> false;
@@ -138,7 +138,7 @@ public class Intake extends SubsystemBase {
}
public void talonHandoff() {
talonIntake.set(-IntakeConstants.INTAKE_OUT_SPEED_UNPRESSED);
talonIntake.set(-outtakeSpeed.get());
}
public void talonSpinIntakeMotor() {