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Encoder Fix code to test

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This commit is contained in:
Shikhar
2026-04-09 19:11:53 -06:00
parent aabcc8d5de
commit 042c169b2c
5 changed files with 20 additions and 2 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+7
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@@ -34,6 +34,7 @@ public class Intake extends SubsystemBase {
ExtendingIdle,
ExtendingRolling,
EncoderFix,
Retracting,
ArmIdleRollingNot,
@@ -122,12 +123,18 @@ public class Intake extends SubsystemBase {
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
break;
case ExtendingRolling:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get()); //getTargetRollerSpeed(ChassisOverallSpeed));
break;
case EncoderFix:
io.armFix(IntakeConstants.FIX_ARM_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
break;
case Retracting:
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());