Team4388/2026KPopRobotHunters
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Shikhar
2026-01-29 18:07:19 -07:00
parent 8bda61b983
commit 5d38173168
7 changed files with 76 additions and 14 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+1
View File
@@ -34,6 +34,7 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Up:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
break;
case Down:
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+3 -1
View File
@@ -33,7 +33,9 @@ public class IntakeConstants {
// negative is left, positive is right
public static final Angle ARM_LIMIT_LOWER = Degrees.of(-180);
public static final Angle ARM_LIMIT_UPPER = Degrees.of(180);
public static final AngularVelocity ROLLER_MAX_VELOCITY = RotationsPerSecond.of(0.0);
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)