From 4d732970da558d90c4be1787635dc5786674bd27 Mon Sep 17 00:00:00 2001 From: Shikhar Date: Fri, 10 Apr 2026 13:59:21 -0600 Subject: [PATCH] fixed intake --- src/main/java/frc4388/robot/RobotContainer.java | 2 +- .../frc4388/robot/constants/BuildConstants.java | 12 ++++++------ .../robot/subsystems/intake/IntakeConstants.java | 6 +++--- .../robot/subsystems/intake/IntakeIO.java | 1 + .../robot/subsystems/intake/IntakeReal.java | 16 ++++++++++++++++ 5 files changed, 27 insertions(+), 10 deletions(-) diff --git a/src/main/java/frc4388/robot/RobotContainer.java b/src/main/java/frc4388/robot/RobotContainer.java index a61bcbf..169f51b 100644 --- a/src/main/java/frc4388/robot/RobotContainer.java +++ b/src/main/java/frc4388/robot/RobotContainer.java @@ -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(); })); diff --git a/src/main/java/frc4388/robot/constants/BuildConstants.java b/src/main/java/frc4388/robot/constants/BuildConstants.java index 1ab5650..1a330bb 100644 --- a/src/main/java/frc4388/robot/constants/BuildConstants.java +++ b/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 = 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(){} diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java index d45eb91..9cfba57 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java @@ -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); diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java index 3838bc2..a841a9f 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java @@ -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() {} } \ No newline at end of file diff --git a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java index 54edf4c..b38acca 100644 --- a/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java +++ b/src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java @@ -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); + + } }