Team4388/2026KPopRobotHunters
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instant commands for testing

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This commit is contained in:
Shikhar
2026-02-07 14:51:05 -07:00
parent f39bd20b9f
commit 2d9ed527be
6 changed files with 61 additions and 41 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+5 -5
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@@ -18,11 +18,11 @@ public class Intake extends SubsystemBase {
Supplier<Pose2d> m_swervePoseSupplier;
public Intake(
IntakeIO io,
Supplier<Pose2d> swervePoseSupplier
IntakeIO io
// Supplier<Pose2d> swervePoseSupplier
) {
this.io = io;
this.m_swervePoseSupplier = swervePoseSupplier;
// this.m_swervePoseSupplier = swervePoseSupplier;
}
public enum IntakeMode {
@@ -33,11 +33,11 @@ public class Intake extends SubsystemBase {
public void setMode(IntakeMode mode) {
switch (mode) {
case Up:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
break;
case Down:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_MAX_VELOCITY);
break;
}