Team4388/2026KPopRobotHunters
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Add Climber stuff

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This commit is contained in:
Michael Mikovsky
2026-02-22 14:02:31 -07:00
parent 77ca57d678
commit 119451e29e
6 changed files with 110 additions and 160 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+2 -3
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@@ -19,7 +19,7 @@ public class IntakeReal implements IntakeIO {
DigitalInput m_armLimitSwitch;
PositionDutyCycle armPosition = new PositionDutyCycle(0);
// VelocityDutyCycle rollerVelocity = new VelocityDutyCycle(0);
DutyCycleOut armPercentOutput = new DutyCycleOut(0);
public IntakeReal(
DigitalInput armLimitSwitch,
@@ -94,9 +94,8 @@ public class IntakeReal implements IntakeIO {
@Override
public void armOutput(double percentOutput){
var d = new DutyCycleOut(0);
m_armMotor.setControl(
d.withOutput(percentOutput)
armPercentOutput.withOutput(percentOutput)
.withLimitReverseMotion(!m_armLimitSwitch.get())
);
}