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Robot should be ready

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This commit is contained in:
Michael Mikovsky
2026-02-09 17:18:54 -08:00
parent d90bddac0f
commit 51d2b80ea0
14 changed files with 183 additions and 95 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+12 -9
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@@ -1,6 +1,9 @@
package frc4388.robot.subsystems.intake;
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 java.util.function.Supplier;
@@ -12,7 +15,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.utility.status.FaultReporter;
public class Intake extends SubsystemBase {
IntakeIO io;
public IntakeIO io;
IntakeStateAutoLogged state = new IntakeStateAutoLogged();
Supplier<Pose2d> m_swervePoseSupplier;
@@ -26,19 +29,19 @@ public class Intake extends SubsystemBase {
}
public enum IntakeMode {
Up,
Down,
Extended,
Retracted,
}
public void setMode(IntakeMode mode) {
switch (mode) {
case Up:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Down:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_MAX_VELOCITY);
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
}
}