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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/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);
}
}