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/IntakeConstants.java
+6 -6
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@@ -18,8 +18,8 @@ import frc4388.utility.status.CanDevice;
public class IntakeConstants {
// Motor conversions
public static final double ARM_MOTOR_GEAR_RATIO = 1/100;
public static final double ROLLER_MOTOR_GEAR_RATIO = 1/3;
public static final double ARM_MOTOR_GEAR_RATIO = 100;
public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
//IDs
@@ -37,8 +37,8 @@ public class IntakeConstants {
// 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 ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", -0.3);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0);
public static final ConfigurableDouble ROLLER_ACTIVE = new ConfigurableDouble("Rolelr Active", 10);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);
@@ -58,8 +58,8 @@ public class IntakeConstants {
.withKD(0.0);
public static ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.2);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KP", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KP", 0);
public static ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KI", 0);
public static ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KD", 0);
public static ConfigurableDouble roller_kP = new ConfigurableDouble("Roller KP", 0.2);
public static ConfigurableDouble roller_kI = new ConfigurableDouble("Roller KI", 0);