Team4388/2026KPopRobotHunters
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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/IntakeConstants.java
+5 -5
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@@ -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);