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new limit switch

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This commit is contained in:
mimigamin
2026-04-06 22:44:17 -06:00
parent 9564554c07
commit 1636a054ed
5 changed files with 21 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+1 -1
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@@ -124,7 +124,7 @@ public class Intake extends SubsystemBase {
case ExtendingRolling:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants. ROLLER_PERCENT_OUTPUT.get()); //getTargetRollerSpeed(ChassisOverallSpeed));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get()); //getTargetRollerSpeed(ChassisOverallSpeed));
break;
case Retracting:
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+2 -1
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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 ConfigurableDouble INTAKE_BOUNCE_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.1);
@@ -60,6 +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_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+11 -7
View File
@@ -12,17 +12,20 @@ import com.revrobotics.spark.SparkLimitSwitch;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
SparkMax m_armMotor;
RelativeEncoder arm_encoder;
SparkLimitSwitch reverse_limit;
// SparkLimitSwitch reverse_limit;
TalonFX m_rollerMotor;
JankCoder m_encoder;
DigitalInput m_armLimitSwitch;
public IntakeReal(
DigitalInput armLimitSwitch,
SparkMax armMotor,
TalonFX rollerMotor,
JankCoder jankCoder
@@ -31,7 +34,7 @@ public class IntakeReal implements IntakeIO {
// m_pitchMotor = pitchMotor;
m_armMotor = armMotor;
arm_encoder = m_armMotor.getEncoder();
reverse_limit = m_armMotor.getReverseLimitSwitch();
m_armLimitSwitch = armLimitSwitch;
m_rollerMotor = rollerMotor;
m_encoder = jankCoder;
@@ -75,9 +78,9 @@ 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_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
// }
private boolean extendedLimit() {
return m_encoder.get() >= IntakeConstants.ARM_LIMIT_EXTENDED.get();
}
@@ -94,6 +97,7 @@ public class IntakeReal implements IntakeIO {
}
m_armMotor.set(percentOutput);
// System.out.println(percentOutput);
}
@@ -110,13 +114,13 @@ public class IntakeReal implements IntakeIO {
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.retractedSoftLimit = retractedLimit();
// state.retractedSoftLimit = retractedLimit();
state.extendedSoftLimit = extendedLimit();
state.intakeEncoder = m_encoder.getRotations();
state.encoderConnected = m_encoder.isConnected();
state.retractedLimitSwitch = reverse_limit.isPressed();
state.retractedLimitSwitch = m_armLimitSwitch.get();
if(state.retractedLimitSwitch) {
m_encoder.resetRotations();