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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/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 {