Team4388/2026KPopRobotHunters
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This commit is contained in:
mimigamin
2026-04-07 20:37:26 -06:00
parent 1636a054ed
commit 118dcee1c7
41 changed files with 96 additions and 64 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+5 -2
View File
@@ -35,6 +35,7 @@ public class Intake extends SubsystemBase {
ExtendingRolling,
Retracting,
ArmIdleRollingNot,
Idle,
RectractTorque,
@@ -79,7 +80,6 @@ public class Intake extends SubsystemBase {
public double getRollerSpeed() {
return state.rollerOutput;
}
// public enum FieldZone {
// // The robot should aim at the hub
// InShootZone,
@@ -136,7 +136,10 @@ public class Intake extends SubsystemBase {
// io.setRollerOutput(state, 0);
// }
break;
case ArmIdleRollingNot:
io.armOutput(0);
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
break;
case Bouncing:
// io.setRollerOutput(state, 0);
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+5 -5
View File
@@ -23,7 +23,7 @@ public class IntakeConstants {
public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
public static final ConfigurableDouble ARM_ENCODER_OFFSET = new ConfigurableDouble("Arm Encoder Offset", 0);
public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
public static final int ARM_LIMIT_SWITCH_CHANNEL = 7;
public static final ConfigurableDouble INTAKE_BOUNCE_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.1);
@@ -56,7 +56,7 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.75);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8); //new soft limt
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
@@ -108,9 +108,9 @@ public class IntakeConstants {
.forwardLimitSwitchType(Type.kNormallyOpen)
.forwardLimitSwitchTriggerBehavior(Behavior.kKeepMovingMotor)
.reverseLimitSwitchType(Type.kNormallyClosed)
.reverseLimitSwitchPosition(0)
.reverseLimitSwitchTriggerBehavior(Behavior.kStopMovingMotorAndSetPosition);
.reverseLimitSwitchType(Type.kNormallyOpen)
// .reverseLimitSwitchPosition(0)
.reverseLimitSwitchTriggerBehavior(Behavior.kKeepMovingMotor);
ARM_MOTOR_CONFIG.idleMode(IdleMode.kBrake);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+35 -11
View File
@@ -4,6 +4,8 @@ import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
@@ -13,6 +15,8 @@ import com.revrobotics.spark.SparkMax;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.Timer;
import frc4388.robot.constants.Constants;
import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
@@ -23,6 +27,9 @@ public class IntakeReal implements IntakeIO {
TalonFX m_rollerMotor;
JankCoder m_encoder;
DigitalInput m_armLimitSwitch;
boolean m_limitTRIGGER = false;
private final Timer m_limitTimer = new Timer();
public IntakeReal(
DigitalInput armLimitSwitch,
@@ -78,9 +85,12 @@ public class IntakeReal implements IntakeIO {
// m_rollerMotor.set(0);
}
// private boolean retractedLimit() {
// return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
// }
private boolean retractedLimit() {
return m_armLimitSwitch.get();
}
private boolean retractedSoftLimit() {
return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
}
private boolean extendedLimit() {
return m_encoder.get() >= IntakeConstants.ARM_LIMIT_EXTENDED.get();
}
@@ -88,9 +98,9 @@ public class IntakeReal implements IntakeIO {
@Override
public void armOutput(double percentOutput){
// if(retractedLimit()) {
// percentOutput = Math.max(percentOutput, 0);
// }
if(retractedSoftLimit()) {
percentOutput = Math.max(percentOutput, 0);
}
if (extendedLimit()) {
percentOutput = Math.min(percentOutput, 0);
@@ -120,16 +130,30 @@ public class IntakeReal implements IntakeIO {
state.intakeEncoder = m_encoder.getRotations();
state.encoderConnected = m_encoder.isConnected();
state.retractedLimitSwitch = m_armLimitSwitch.get();
state.retractedLimitSwitch = retractedLimit();
if(state.retractedLimitSwitch) {
m_encoder.resetRotations();
}
// if(state.retractedLimitSwitch && (state.armMotorVelocity.in(RotationsPerSecond) <0)) {
// if (!m_limitTRIGGER) {
// m_limitTRIGGER = true;
// m_limitTimer.restart();
// }
// if (m_limitTimer.hasElapsed(1.0)) {
// m_encoder.resetRotations();
// }
// } else {
// m_limitTRIGGER = false;
// m_limitTimer.reset();
// }
}
@Override
public void updateGains() {
m_encoder.loadRotations();
// m_encoder.loadRotations();
if(retractedLimit()) {
m_encoder.resetRotations();
}
// IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
// IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();