Team4388/2026KPopRobotHunters
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This commit is contained in:
Michael Mikovsky
2026-03-30 16:15:43 -06:00
parent 65c76aca95
commit 3fe5d0e5a1
4 changed files with 85 additions and 43 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+44 -26
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@@ -109,7 +109,7 @@ public class RobotContainer {
private Command IntakeExtended = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Extended), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME), m_robotIntake)
);
// private Command LidarIntake = new SequentialCommandGroup(
@@ -146,7 +146,7 @@ public class RobotContainer {
);
private Command IntakeRetracted = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Retracted), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RetractedREMOVEME), m_robotIntake)
);
private Command RobotShoot = new SequentialCommandGroup(
@@ -357,31 +357,49 @@ public class RobotContainer {
m_robotShooter.spinUpIdle();
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracted);
}));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.RIGHT_BUMPER_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.RetractedREMOVEME);
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extended);
}));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.A_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.ExtendedREMOVEME);
// }));
new JoystickButton(getDeadbandedOperatorController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extending);
m_robotIntake.setMode(IntakeMode.ExtendingRolling);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingIdle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}));
new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.ExtendingIdle);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
// new JoystickButton(getDeadbandedOperatorController(), XboxController.B_BUTTON)
// .onTrue(new InstantCommand(() -> {
@@ -493,21 +511,21 @@ public class RobotContainer {
m_robotShooter.spinUpIdle();
}));
new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Extending);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// new JoystickButton(getDeadbandedDriverController(), XboxController.X_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.ExtendedIdle);
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Retracting);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
}));
// new JoystickButton(getDeadbandedDriverController(), XboxController.Y_BUTTON)
// .onTrue(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Retracting);
// }))
// .onFalse(new InstantCommand(() -> {
// m_robotIntake.setMode(IntakeMode.Idle);
// }));
}
src/main/java/frc4388/robot/constants/BuildConstants.java
+7 -7
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@@ -5,15 +5,15 @@ package frc4388.robot.constants;
*/
public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 188;
public static final String GIT_SHA = "d010829c21aa6f5bd1787cfcab1c02107fb353ff";
public static final String GIT_DATE = "2026-03-28 13:30:33 MDT";
public static final int GIT_REVISION = 189;
public static final String GIT_SHA = "65c76aca95de81f342df7ff26a77e18856f22a83";
public static final String GIT_DATE = "2026-03-28 15:56:54 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-03-28 15:50:49 MDT";
public static final long BUILD_UNIX_TIME = 1774734649429L;
public static final int DIRTY = 1;
public static final String BUILD_DATE = "2026-03-30 15:59:11 MDT";
public static final long BUILD_UNIX_TIME = 1774907951058L;
public static final int DIRTY = 0;
private BuildConstants(){}
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+32 -10
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@@ -28,10 +28,14 @@ public class Intake extends SubsystemBase {
}
public enum IntakeMode {
Extended,
Retracted,
Extending,
ExtendedREMOVEME,
RetractedREMOVEME,
ExtendingIdle,
ExtendingRolling,
Retracting,
Idle,
Bouncing
}
@@ -95,22 +99,35 @@ public class Intake extends SubsystemBase {
// getCurrentTime
switch (mode) {
case Extended:
case ExtendedREMOVEME:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
// io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracted:
case RetractedREMOVEME:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
// io.setRollerOutput(state, 0);
break;
case Extending:
case ExtendingIdle:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
break;
case ExtendingRolling:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
break;
case Retracting:
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
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 Bouncing:
io.setRollerOutput(state, 0);
@@ -129,11 +146,16 @@ public class Intake extends SubsystemBase {
percentOutput = Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
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 Idle:
io.armOutput(0);
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
// io.setRollerOutput(state, 0);
io.setRollerOutput(state, 0);
break;
}
// if (state.retractedLimit){
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+2
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@@ -45,6 +45,8 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.1);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.1);
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 2.0);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .80);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);