Team4388/2026KPopRobotHunters
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Working robot in testing

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This commit is contained in:
Michael Mikovsky
2026-02-10 17:33:39 -08:00
parent 6ce6d0eb0b
commit 539c1bd8eb
8 changed files with 74 additions and 61 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+14 -10
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@@ -33,17 +33,10 @@ public class Intake extends SubsystemBase {
Retracted,
}
private IntakeMode mode = IntakeMode.Extended;
public void setMode(IntakeMode mode) {
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
}
this.mode = mode;
}
@@ -70,6 +63,17 @@ public class Intake extends SubsystemBase {
io.updateInputs(state);
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
}
}
}