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/IntakeReal.java
+7 -7
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@@ -65,7 +65,7 @@ public class IntakeReal implements IntakeIO {
}
// (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC)
AngularVelocity motorSpeed = angularVelocity.div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
AngularVelocity motorSpeed = angularVelocity.times(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
// m_rollerMotor.set(motorSpeed);
// VelocityDutyCycle velocity = new VelocityDutyCycle(motorSpeed);
@@ -80,7 +80,7 @@ public class IntakeReal implements IntakeIO {
// (REAL_ROT) * (MOTOR_ROT / REAL_ROT) = MOTOR_ROT
Angle motorAngle = angle.div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
Angle motorAngle = angle.times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
// PositionDutyCycle posRequest = new PositionDutyCycle(motorTargetAngle);
m_armMotor.setControl(armPosition.withPosition(motorAngle));
@@ -88,10 +88,10 @@ public class IntakeReal implements IntakeIO {
@Override
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent(false).getValue();
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.rollerVelocity = m_rollerMotor.getVelocity().getValue();
state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
}
@@ -101,11 +101,11 @@ public class IntakeReal implements IntakeIO {
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_MOTOR_CONFIG);
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
IntakeConstants.ROLLER_PID.kP = IntakeConstants.roller_kP.get();
IntakeConstants.ROLLER_PID.kI = IntakeConstants.roller_kI.get();
IntakeConstants.ROLLER_PID.kD = IntakeConstants.roller_kD.get();
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_PID);
}
}