Merge pull request #9 from Team4388/New-Intake

New intake

src/main/java/frc4388/robot/RobotContainer.java

@@ -377,7 +377,7 @@ public class RobotContainer {
 
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
             .onTrue(new InstantCommand(() -> {
-                m_robotIntake.setMode(IntakeMode.Retracting);
+                m_robotIntake.setMode(IntakeMode.RectractTorque);
             }))
             .onFalse(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Idle);
@@ -410,6 +410,14 @@ public class RobotContainer {
                 m_robotIntake.setMode(IntakeMode.Idle);
             }));
 
+        new Trigger(() -> getDeadbandedOperatorController().getPOV() == 180)
+            .onTrue(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.ExpelBalls);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
+            }));
+
 
             // .onFalse(new InstantCommand(() -> {
             //     m_robotIntake.setMode(IntakeMode.Idle);

src/main/java/frc4388/robot/RobotMap.java

@@ -101,7 +101,7 @@ public class RobotMap {
                 
                 //Configure Intake 20,21
                 SparkMax arm = new SparkMax(IntakeConstants.ARM_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless);
-                TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
+                TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.RIO_CANBUS);
                 // DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL);
                 // DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
                 // DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 198;
+  public static final int GIT_REVISION = 200;
-  public static final String GIT_SHA = "958bdc46fd90b8388750f8bf1a95b62ff91b2092";
+  public static final String GIT_SHA = "3750a97424bfa4c90fc68b8db323029cdbb55452";
-  public static final String GIT_DATE = "2026-03-31 20:51:47 MDT";
+  public static final String GIT_DATE = "2026-04-02 18:27:51 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-04-01 17:29:06 MDT";
+  public static final String BUILD_DATE = "2026-04-03 20:54:00 MDT";
-  public static final long BUILD_UNIX_TIME = 1775086146983L;
+  public static final long BUILD_UNIX_TIME = 1775271240963L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/climber/ClimberConstants.java

@@ -44,6 +44,6 @@ public class ClimberConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 }

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -41,7 +41,8 @@ public class Intake extends SubsystemBase {
 
         Idle,
         RectractTorque,
-        Bouncing
+        Bouncing,
+        ExpelBalls
     }
     private boolean overCompressed = false;
 
@@ -104,11 +105,9 @@ public class Intake extends SubsystemBase {
 
         io.updateInputs(state);
 
-        if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD.get()){
+        overCompressed = 
-            overCompressed = false;
+            Math.abs(state.armMotorCurrent.in(Amps)) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get();
-        } else if (state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD.get()) {
+            // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get();
-            overCompressed = true;
-        }
 
         Logger.recordOutput("overCompressed", overCompressed);
 
@@ -137,11 +136,11 @@ public class Intake extends SubsystemBase {
             case Retracting:
                 io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
 
-                if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
+                // if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
-                    io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+                io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
-                } else {
+                // } else {
-                    io.setRollerOutput(state, 0);
+                //     io.setRollerOutput(state, 0);
-                }
+                // }
                 break;
             
             case Bouncing:
@@ -151,7 +150,7 @@ public class Intake extends SubsystemBase {
                     state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
                     // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
                 ) {
-                    System.out.println("RESET BOUNCE");
+                    // System.out.println("RESET BOUNCE");
                     this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
                 }
 
@@ -174,19 +173,25 @@ public class Intake extends SubsystemBase {
                 io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
                 if (!overCompressed){
                     io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
-                } else if (overCompressed) {
+                } else {
                     io.armOutput(IntakeConstants.ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT.get());
                 }
-                if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
+
-                    io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
+                // if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
-                } else {
+                // io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
-                    io.setRollerOutput(state, 0);
+                // } else {
-                }
+                    // io.setRollerOutput(state, 0);
+                // }
                 break;
             case Idle:
                 io.armOutput(0);
                 io.setRollerOutput(state, 0);
                 break;
+                
+            case ExpelBalls:
+                io.armOutput(0);
+                io.setRollerOutput(state, -0.2);
+                break;
         }
         // if (state.retractedLimit){
         //     this.mode = IntakeMode.Retracted;

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -28,15 +28,15 @@ public class IntakeConstants {
     public static final ConfigurableDouble INTAKE_BOUNCE_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
     public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.1);
     public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("Bounce Max Output", 0.2);
-    public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 16);
+    public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 30);
     public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 4);
 
 
     //squeeze constants
-    public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20);
+    // public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20);
-    public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
+    // public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
-    public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.1);
+    public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.2);
-    public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", -0.02);
+    public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", 0.02);
 
 
     //IDs
@@ -57,7 +57,7 @@ public class IntakeConstants {
 
     public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
     public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.75);
-    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
+    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
     public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
 
     public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
@@ -122,7 +122,7 @@ public class IntakeConstants {
     //         ).withMotorOutput(
     //             new MotorOutputConfigs()
     //                 .withNeutralMode(NeutralModeValue.Brake) // Must be break because this has to be accurate
-    //                 .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+    //                 .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     // );
 
     public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -133,6 +133,6 @@ public class IntakeConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 }

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -1,27 +1,15 @@
 package frc4388.robot.subsystems.intake;
 
 import static edu.wpi.first.units.Units.Amps;
-import static edu.wpi.first.units.Units.Rotation;
 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 com.ctre.phoenix6.controls.DutyCycleOut;
-import com.ctre.phoenix6.controls.PositionDutyCycle;
-import com.ctre.phoenix6.controls.PositionVoltage;
 import com.ctre.phoenix6.hardware.TalonFX;
 import com.revrobotics.PersistMode;
 import com.revrobotics.ResetMode;
 import com.revrobotics.spark.SparkMax;
 
-import edu.wpi.first.math.trajectory.TrapezoidProfile;
-import edu.wpi.first.math.util.Units;
-import edu.wpi.first.units.measure.Acceleration;
 import edu.wpi.first.units.measure.Angle;
-import edu.wpi.first.units.measure.Velocity;
-import edu.wpi.first.wpilibj.DigitalInput;
-import edu.wpi.first.wpilibj.DutyCycleEncoder;
-import frc4388.robot.subsystems.shooter.ShooterConstants;
 import frc4388.utility.compute.JankCoder;
 
 public class IntakeReal implements IntakeIO {
@@ -114,7 +102,7 @@ public class IntakeReal implements IntakeIO {
         state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
 
         state.rollerOutput = m_rollerMotor.get();
-        // state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
+        state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
 
         state.retractedSoftLimit = retractedLimit();
         state.extendedSoftLimit = extendedLimit();

src/main/java/frc4388/robot/subsystems/shooter/ShooterConstants.java

@@ -16,7 +16,7 @@ public class    ShooterConstants {
     // Motor conversions
     
     public static final double SHOOTERMOTOR_GEAR_RATIO = 1.286; // TODO: supposed to be 9 rotations in to 7 out    -- 0.77 or 1.29
-    public static final double INDEXER_GEAR_RATIO = 1.72; // TODO: change it is supposed to be 18 to 31 
+    // public static final double INDEXER_GEAR_RATIO = 1.;
     public static final double T_CONSTANT = 2;
     public static final double SHOOTER_RADIUS = 2/39.37;
     public static final double INDEXER_RADIUS = 0.625/39.37;
@@ -116,7 +116,7 @@ public class    ShooterConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
     public static final TalonFXConfiguration SHOOTER2_MOTOR_CONFIG = new TalonFXConfiguration()
         .withCurrentLimits(
@@ -126,7 +126,7 @@ public class    ShooterConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 
     public static final TalonFXConfiguration INDEXER_MOTOR_CONFIG = new TalonFXConfiguration()
@@ -137,6 +137,6 @@ public class    ShooterConstants {
             ).withMotorOutput(
                 new MotorOutputConfigs()
                     .withNeutralMode(NeutralModeValue.Coast) // Must be coast because this is spinny spinny
-                    .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
+                    .withDutyCycleNeutralDeadband(0.04) // This sets the minimum output of motor so if its less than 4% it wont move
     );
 }