Autos for Pike

2026-06-09 00:38:03 -06:00 · 2026-03-05 23:12:50 -07:00
parent 183caaa970
commit 0957729c80
20 changed files with 152 additions and 90 deletions
@@ -27,7 +27,8 @@ public class Intake extends SubsystemBase {
        Retracted,
        Extending,
        Retracting,
-        Idle
+        Idle,
+        RollerStop
    }

    private IntakeMode mode = IntakeMode.Idle;
@@ -90,6 +91,9 @@ public class Intake extends SubsystemBase {
            case Idle:
                io.stopArm();
                break;
+            case RollerStop:
+                io.setRollerOutput(state, 0);
+                break;
        }
        // if (state.retractedLimit){
        //     this.mode = IntakeMode.Retracted;