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intake

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This commit is contained in:
Shikhar
2026-04-04 13:02:50 -06:00
parent 6d55c96f6a
commit 2d56e5eeff
4 changed files with 12 additions and 12 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+3 -2
View File
@@ -66,7 +66,8 @@ public class Intake extends SubsystemBase {
}
public void rollerStop(){
io.setRollerOutput(state, 0);
this.mode = IntakeMode.Idle;
// io.setRollerOutput(state, 0);
}
public double getRollerTarget() {
@@ -190,7 +191,7 @@ public class Intake extends SubsystemBase {
case ExpelBalls:
io.armOutput(0);
io.setRollerOutput(state, -0.2);
io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
break;
}
// if (state.retractedLimit){
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+2
View File
@@ -63,6 +63,8 @@ public class IntakeConstants {
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);
public static final ConfigurableDouble ROLLER_EJECT_PERCENT_OUTPUT = new ConfigurableDouble("Roller eject Percent Output", -.20);
public static final ConfigurableDouble ROLLER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Roller IDLE Percent Output", .20);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
public static final ConfigurableDouble ROLLER_MULTIPLIER_CONST = new ConfigurableDouble("Roller Multiplier Constant", 0.4);