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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/IntakeReal.java
+14 -19
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@@ -19,7 +19,7 @@ public class IntakeReal implements IntakeIO {
DigitalInput m_armLimitSwitch;
PositionDutyCycle armPosition = new PositionDutyCycle(0);
VelocityDutyCycle rollerVelocity = new VelocityDutyCycle(0);
// VelocityDutyCycle rollerVelocity = new VelocityDutyCycle(0);
public IntakeReal(
DigitalInput armLimitSwitch,
@@ -35,11 +35,10 @@ public class IntakeReal implements IntakeIO {
// Apply the configs
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_PID);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
armPosition.Slot = 0;
rollerVelocity.Slot = 0;
// rollerVelocity.Slot = 0;
}
private Angle clampAng(Angle x, Angle min, Angle max){
@@ -55,20 +54,15 @@ public class IntakeReal implements IntakeIO {
@Override
public void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {
state.rollerTargetVelocity = angularVelocity;
public void setRollerOutput(IntakeState state, double rollerOutput) {
state.rollerTargetOutput = rollerOutput;
if(angularVelocity.baseUnitMagnitude() == 0) {
if(rollerOutput == 0) {
m_rollerMotor.set(0);
return;
}
// (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC)
AngularVelocity motorSpeed = angularVelocity.times(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
// m_rollerMotor.set(motorSpeed);
// VelocityDutyCycle velocity = new VelocityDutyCycle(motorSpeed);
m_rollerMotor.setControl(rollerVelocity.withVelocity(motorSpeed));
m_rollerMotor.set(rollerOutput);
}
@Override
@@ -109,9 +103,14 @@ public class IntakeReal implements IntakeIO {
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.retractedLimit = !m_armLimitSwitch.get();
state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.retractedLimit = !m_armLimitSwitch.get();
if(state.retractedLimit) {
// Set the arm motor to be zero if the limit switch is pressed
m_armMotor.setPosition(0., 0);
}
}
@Override
@@ -122,9 +121,5 @@ public class IntakeReal implements IntakeIO {
IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
IntakeConstants.ROLLER_PID.kP = IntakeConstants.roller_kP.get();
IntakeConstants.ROLLER_PID.kI = IntakeConstants.roller_kI.get();
IntakeConstants.ROLLER_PID.kD = IntakeConstants.roller_kD.get();
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_PID);
}
}