Team4388/2026KPopRobotHunters
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Merge branch 'shikhar-op-controls' of https://github.com/Team4388/2026KPopRobotHunters into shikhar-op-controls

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Shikhar
2026-02-28 10:45:49 -07:00
parent e196df029f 402d4478d4
commit 2497511084
3 changed files with 14 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+6 -7
View File
@@ -3,13 +3,14 @@ package frc4388.robot.subsystems.intake;
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 static edu.wpi.first.units.Units.RotationsPerSecondPerSecond;
import org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.measure.Acceleration;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Velocity;
public interface IntakeIO {
@AutoLog
@@ -19,10 +20,8 @@ public interface IntakeIO {
Angle armTargetAngle = Rotations.of(0);
Current armMotorCurrent = Amps.of(0);
@SuppressWarnings("rawtypes")
Velocity armMotorVelocity;
@SuppressWarnings("rawtypes")
Acceleration armMotorAcceleration;
AngularVelocity armMotorVelocity = RotationsPerSecond.of(0);
AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
// Angle shooterPitch = Rotations.of(0);
// Angle shooterTargetPitch = Rotations.of(0);
@@ -40,7 +39,7 @@ public interface IntakeIO {
// public default void setShooterAngle(ShooterState state, Angle angle) {}
// public default void setShooterPitch(ShooterState state, Angle angle) {}
public default void setArmAngle(IntakeState state, Angle angle) {}
public default void testSetArmAgle(IntakeState state, Angle angle){}
public default void testSetArmAngle(IntakeState state, Angle angle){}
public default void stopArm() {}
public default void setRollerOutput(IntakeState state, double rollerOutput) {}
public default void armOutput(double percentOutput) {}
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+3 -4
View File
@@ -89,7 +89,7 @@ public class IntakeReal implements IntakeIO {
}
@Override
public void testSetArmAgle(IntakeState state, Angle angle){
public void testSetArmAngle(IntakeState state, Angle angle){
state.armTargetAngle = angle;
Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
@@ -128,7 +128,6 @@ public class IntakeReal implements IntakeIO {
);
}
@SuppressWarnings("rawtypes")
@Override
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
@@ -137,8 +136,8 @@ public class IntakeReal implements IntakeIO {
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.retractedLimit = !m_armLimitSwitch.get();
// state.armMotorVelocity = (Velocity) m_armMotor.getVelocity();
// state.armMotorAcceleration = (Acceleration) m_armMotor.getAcceleration();
state.armMotorVelocity = m_armMotor.getVelocity().getValue();
state.armMotorAcceleration = m_armMotor.getAcceleration().getValue();
if(state.retractedLimit) {
// Set the arm motor to be zero if the limit switch is pressed