Team4388/2026KPopRobotHunters
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mimigamin
2026-04-09 07:18:28 -06:00
parent faec79d64c
commit 15c69e7788
4 changed files with 75 additions and 3 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
View File
@@ -178,14 +178,14 @@ public class RobotContainer {
// Called on first robot enable
DeferredBlock.addBlock(() -> {
m_robotSwerveDrive.resetGyro();
m_robotIntake.setMode(IntakeMode.Idle);
m_robotShooter.spinUpIdle();
}, false);
// Called on every robot enable
DeferredBlock.addBlock(() -> {
TimesNegativeOne.update();
FieldPositions.update();
m_robotIntake.setMode(IntakeMode.Idle);
m_robotShooter.spinUpIdle();
m_robotIntake.io.updateGains();
m_robotShooter.io.updateGains();
}, true);
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+5
View File
@@ -39,6 +39,7 @@ public class Intake extends SubsystemBase {
Idle,
RectractTorque,
RectractAuto,
Bouncing,
ExpelBalls,
LabubuGrowl
@@ -179,6 +180,10 @@ public class Intake extends SubsystemBase {
// io.setRollerOutput(state, 0);
// }
break;
case RectractAuto:
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
io.armOutput(IntakeConstants.ARM_AUTO_OUTPUT.get());
break;
case Idle:
io.armOutput(0);
io.setRollerOutput(state, 0);
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1 -1
View File
@@ -60,7 +60,7 @@ public class IntakeConstants {
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);
public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.1);
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", .50);