Team4388/2026KPopRobotHunters
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fixed intake

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This commit is contained in:
Shikhar
2026-04-10 13:59:21 -06:00
parent e175ca49a3
commit 4d732970da
5 changed files with 27 additions and 10 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -264,7 +264,7 @@ public class RobotContainer {
new JoystickButton(getDeadbandedDriverController(), XboxController.BACK_BUTTON)
.onTrue(new InstantCommand(() -> {
m_robotIntake.io.updateGains();
m_robotIntake.io.fixEncoder();
m_robotShooter.io.updateGains();
}));
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -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 = 229;
public static final String GIT_SHA = "fa0342a67239f145f381f48ba48e506cdb03026f";
public static final String GIT_DATE = "2026-04-09 12:40:33 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-04-09 17:42:53 MDT";
public static final long BUILD_UNIX_TIME = 1775778173177L;
public static final int GIT_REVISION = 238;
public static final String GIT_SHA = "e175ca49a34bea824ae7598a8cc54e22f060c4c2";
public static final String GIT_DATE = "2026-04-10 13:20:37 MDT";
public static final String GIT_BRANCH = "Encoder-Fix";
public static final String BUILD_DATE = "2026-04-10 13:43:28 MDT";
public static final long BUILD_UNIX_TIME = 1775850208266L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+3 -3
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@@ -56,9 +56,9 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
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", 1.8); //new soft limt
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.5);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.2);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.625); //new soft limt
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.3);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.15);
public static final ConfigurableDouble ARM_AUTO_OUTPUT = new ConfigurableDouble("Arm auto output", -0.07);
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+1
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@@ -55,4 +55,5 @@ public interface IntakeIO {
public default void armFix(double percentOutput) {}
public default void updateInputs(IntakeState state) {}
public default void updateGains() {}
public default void fixEncoder() {}
}
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+16
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@@ -166,4 +166,20 @@ public class IntakeReal implements IntakeIO {
// m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
}
@Override
public void fixEncoder() {
// m_encoder.loadRotations();
// if(retractedLimit()) {
m_encoder.resetRotations();
// }
// IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
// IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();
// IntakeConstants.ARM_PID.kD = IntakeConstants.arm_kD.get();
// m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
}
}