Team4388/2026KPopRobotHunters
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Add intial

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This commit is contained in:
Michael Mikovsky
2026-02-27 20:53:02 -08:00
parent 9362d4389f
commit 402d4478d4
3 changed files with 10 additions and 11 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+4 -5
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@@ -3,15 +3,14 @@ package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
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 org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.measure.Acceleration;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Velocity;
public interface IntakeIO {
@AutoLog
@@ -21,8 +20,8 @@ public interface IntakeIO {
Angle armTargetAngle = Rotations.of(0);
Current armMotorCurrent = Amps.of(0);
AngularVelocity armMotorVelocity;
AngularAcceleration armMotorAcceleration;
AngularVelocity armMotorVelocity = RotationsPerSecond.of(0);
AngularAcceleration armMotorAcceleration = RotationsPerSecondPerSecond.of(0);
// Angle shooterPitch = Rotations.of(0);
// Angle shooterTargetPitch = Rotations.of(0);
@@ -40,7 +39,7 @@ public interface IntakeIO {
// public default void setShooterAngle(ShooterState state, Angle angle) {}
// public default void setShooterPitch(ShooterState state, Angle angle) {}
public default void setArmAngle(IntakeState state, Angle angle) {}
public default void testSetArmAgle(IntakeState state, Angle angle){}
public default void testSetArmAngle(IntakeState state, Angle angle){}
public default void stopArm() {}
public default void setRollerOutput(IntakeState state, double rollerOutput) {}
public default void armOutput(double percentOutput) {}
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+1 -1
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@@ -89,7 +89,7 @@ public class IntakeReal implements IntakeIO {
}
@Override
public void testSetArmAgle(IntakeState state, Angle angle){
public void testSetArmAngle(IntakeState state, Angle angle){
state.armTargetAngle = angle;
Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);