Team4388/2026KPopRobotHunters
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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/IntakeConstants.java
+16 -8
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@@ -12,6 +12,7 @@ import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
public class IntakeConstants {
@@ -33,21 +34,28 @@ public class IntakeConstants {
//when testing the negative output of 10% made the robot put the intake up
public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
// public static final Angle ARM_LIMIT_LOWER = Degrees.of(90);
// 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", 0.25);
public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
// public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(4.0);
// public static final AngularVelocity ROLLER_STOP = RotationsPerSecond.of(0.0);
public static final Slot0Configs ARM_PID = new Slot0Configs()
.withKP(2.0)
.withKP(0.2)
.withKI(0.0)
.withKD(10.0);
.withKD(0.0);
public static final Slot0Configs ROLLER_PID = new Slot0Configs()
.withKP(2.0)
.withKP(0.2)
.withKI(0.0)
.withKD(10.0);
.withKD(0.0);
// 0 is paralell to the ground, 90 is directly up
// public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);