Team4388/2026KPopRobotHunters
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Oh god I hate REV

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Shatcar
2026-03-30 19:52:57 -06:00
parent 9021f480be
commit 058866fc91
4 changed files with 22 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+6 -5
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@@ -129,12 +129,13 @@ public class Intake extends SubsystemBase {
break;
case Bouncing:
io.setRollerOutput(state, 0);
// io.setRollerOutput(state, 0);
if(
state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get() &&
state.armMotorVelocity.in(RotationsPerSecond) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
// Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
) {
System.out.println("RESET BOUNCE");
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
}
@@ -143,11 +144,11 @@ public class Intake extends SubsystemBase {
// Get the percentage through the bounce period (0 output means one half period has passed)
double percentOutput = (currentTime / IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get()) * IntakeConstants.INTAKE_BOUNCE_OUTPUT.get();
// Clamp the output of the motor to some value
percentOutput = Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
percentOutput = -Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
io.armOutput(percentOutput);
if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
if(percentOutput < 0) {
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
} else {
io.setRollerOutput(state, 0);