Team4388/2026KPopRobotHunters
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squeeze/toerque retract

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This commit is contained in:
Shikhar
2026-03-31 18:53:16 -06:00
parent 3fe5d0e5a1
commit 2e1c4abc07
5 changed files with 311 additions and 7 deletions
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src/main/java/frc4388/robot/constants/BuildConstants.java
+7 -7
View File
@@ -5,15 +5,15 @@ package frc4388.robot.constants;
*/
public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 189;
public static final String GIT_SHA = "65c76aca95de81f342df7ff26a77e18856f22a83";
public static final String GIT_DATE = "2026-03-28 15:56:54 MDT";
public static final int GIT_REVISION = 190;
public static final String GIT_SHA = "3fe5d0e5a1cfe24710b755b489fa61255e307095";
public static final String GIT_DATE = "2026-03-30 16:15:43 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-03-30 15:59:11 MDT";
public static final long BUILD_UNIX_TIME = 1774907951058L;
public static final int DIRTY = 0;
public static final String BUILD_DATE = "2026-03-31 18:51:12 MDT";
public static final long BUILD_UNIX_TIME = 1775004672077L;
public static final int DIRTY = 1;
private BuildConstants(){}
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+17
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@@ -37,6 +37,7 @@ public class Intake extends SubsystemBase {
Retracting,
Idle,
RectractTorque,
Bouncing
}
@@ -85,6 +86,8 @@ public class Intake extends SubsystemBase {
// return FieldZone.InShootZone;
// }
@Override
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
@@ -94,6 +97,7 @@ public class Intake extends SubsystemBase {
Logger.processInputs("Intake", state);
Logger.recordOutput("Intake/IntakeState", this.mode);
io.updateInputs(state);
// getCurrentTime
@@ -147,6 +151,19 @@ public class Intake extends SubsystemBase {
io.armOutput(percentOutput);
if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
} else {
io.setRollerOutput(state, 0);
}
break;
case RectractTorque:
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LIMIT.get()){
io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
} else {
io.armOutput(IntakeConstants.ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT.get());
}
if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
} else {
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+5
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@@ -24,6 +24,11 @@ public class IntakeConstants {
public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 20);
//squeeze constants
public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LIMIT = new ConfigurableDouble("Intake Squeeze Current Limit", 20);
public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.1);
public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.02);
//IDs