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Adding trench autos and linear model for roller

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mimigamin
2026-04-04 10:27:44 -06:00
parent bf12e9cd7c
commit 0a2559bb4b
9 changed files with 443 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+8 -2
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@@ -6,6 +6,9 @@ import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.units.measure.AngularVelocity;
import com.revrobotics.spark.config.LimitSwitchConfig.Behavior;
import com.revrobotics.spark.config.LimitSwitchConfig.Type;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
@@ -59,8 +62,9 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .80);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
public static final ConfigurableDouble ROLLER_MULTIPLIER_CONST = new ConfigurableDouble("Roller Multiplier Constant", 0.4);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
@@ -79,7 +83,9 @@ public class IntakeConstants {
// public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
// public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0.05);
public static double getTargetRollerSpeed(double chassisSpeed) {
return ROLLER_PERCENT_OUTPUT.get() * (1 + ROLLER_MULTIPLIER_CONST.get() * chassisSpeed);
}
// 0 is paralell to the ground, 90 is directly up