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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/IntakeIO.java
+3 -3
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@@ -22,8 +22,8 @@ public interface IntakeIO {
// Angle shooterTargetPitch = Rotations.of(0);
// Current pitchMotorCurrent = Amps.of(0);
AngularVelocity rollerVelocity = RotationsPerSecond.of(0);
AngularVelocity rollerTargetVelocity = RotationsPerSecond.of(0);
double rollerOutput = 0;
double rollerTargetOutput = 0;
Current rollerMotorCurrent = Amps.of(0);
// LinearVelocity feederVelocity = InchesPerSecond.of(0);
@@ -35,7 +35,7 @@ public interface IntakeIO {
// public default void setShooterPitch(ShooterState state, Angle angle) {}
public default void setArmAngle(IntakeState state, Angle angle) {}
public default void stopArm() {}
public default void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {}
public default void setRollerOutput(IntakeState state, double rollerOutput) {}
public default void armOutput(double percentOutput) {}
public default void updateInputs(IntakeState state) {}
public default void updateGains() {}