Team4388/2026KPopRobotHunters
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mimigamin
2026-04-02 18:27:51 -06:00
parent 82be568dc4
commit 3750a97424
4 changed files with 8 additions and 20 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+2 -2
View File
@@ -116,7 +116,7 @@ public class IntakeConstants {
// ).withMotorOutput(
// new MotorOutputConfigs()
// .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
// );
public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -127,6 +127,6 @@ public class IntakeConstants {
).withMotorOutput(
new MotorOutputConfigs()
.withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
.withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
);
}
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+1 -13
View File
@@ -1,27 +1,15 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Rotation;
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 com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
import edu.wpi.first.units.measure.Acceleration;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import frc4388.robot.subsystems.shooter.ShooterConstants;
import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
@@ -114,7 +102,7 @@ public class IntakeReal implements IntakeIO {
state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
state.rollerOutput = m_rollerMotor.get();
// state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.retractedSoftLimit = retractedLimit();
state.extendedSoftLimit = extendedLimit();