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VIsion and Roller

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vision constants and implementation
roller percent output
operator controls update
This commit is contained in:
Michael Mikovsky
2026-02-17 18:53:26 -08:00
parent 7ec022bc7a
commit 3a5057fc41
11 changed files with 69 additions and 87 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+7 -7
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@@ -69,27 +69,27 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
io.setRollerOutput(state, 0);
break;
case Extending:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
io.setRollerVelocity(state, RotationsPerSecond.of(0));
io.setRollerOutput(state, 0);
break;
case Idle:
io.stopArm();
break;
}
if (state.retractedLimit){
this.mode = IntakeMode.Retracted;
}
// if (state.retractedLimit){
// this.mode = IntakeMode.Retracted;
// }
}
}