Team4388/2026KPopRobotHunters
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Mira
2026-04-17 18:54:29 -06:00
parent 1bb098eb04
commit 64d9c92e74
17 changed files with 528 additions and 98 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+10 -10
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@@ -26,13 +26,13 @@ public class IntakeReal implements IntakeIO {
// SparkLimitSwitch reverse_limit;
TalonFX m_rollerMotor;
JankCoder m_encoder;
DigitalInput m_armLimitSwitch;
// DigitalInput m_armLimitSwitch;
boolean m_limitTRIGGER = false;
private final Timer m_limitTimer = new Timer();
public IntakeReal(
DigitalInput armLimitSwitch,
// DigitalInput armLimitSwitch,
SparkMax armMotor,
TalonFX rollerMotor,
JankCoder jankCoder
@@ -41,7 +41,7 @@ public class IntakeReal implements IntakeIO {
// m_pitchMotor = pitchMotor;
m_armMotor = armMotor;
arm_encoder = m_armMotor.getEncoder();
m_armLimitSwitch = armLimitSwitch;
// m_armLimitSwitch = armLimitSwitch;
m_rollerMotor = rollerMotor;
m_encoder = jankCoder;
@@ -85,9 +85,9 @@ public class IntakeReal implements IntakeIO {
// m_rollerMotor.set(0);
}
private boolean retractedLimit() {
return m_armLimitSwitch.get();
}
// private boolean retractedLimit() {
// // return m_armLimitSwitch.get();
// }
private boolean retractedSoftLimit() {
return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
}
@@ -135,7 +135,7 @@ public class IntakeReal implements IntakeIO {
state.intakeEncoder = m_encoder.getRotations();
state.encoderConnected = m_encoder.isConnected();
state.retractedLimitSwitch = retractedLimit();
// state.retractedLimitSwitch = retractedLimit();
// if(state.retractedLimitSwitch && (state.armMotorVelocity.in(RotationsPerSecond) <0)) {
// if (!m_limitTRIGGER) {
@@ -156,9 +156,9 @@ public class IntakeReal implements IntakeIO {
// m_encoder.loadRotations();
if(retractedLimit()) {
m_encoder.resetRotations();
}
// if(retractedLimit()) {
// m_encoder.resetRotations();
// }
// IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
// IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();