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/IntakeReal.java
+35 -11
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@@ -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();