Team4388/2026KPopRobotHunters
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working new intake

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This commit is contained in:
Shatcar
2026-03-28 15:56:54 -06:00
parent d010829c21
commit 65c76aca95
7 changed files with 50 additions and 35 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+22 -15
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@@ -10,6 +10,8 @@ import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.PositionDutyCycle;
import com.ctre.phoenix6.controls.PositionVoltage;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
@@ -37,7 +39,9 @@ public class IntakeReal implements IntakeIO {
m_armMotor = armMotor;
m_rollerMotor = rollerMotor;
m_encoder = jankCoder;
// m_armLimitSwitch = armLimitSwitch;
m_armMotor.configure(IntakeConstants.ARM_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
m_rollerMotor.configure(IntakeConstants.ROLELR_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
}
@@ -77,18 +81,20 @@ public class IntakeReal implements IntakeIO {
}
private boolean retractedLimit() {
return m_encoder.get() >= IntakeConstants.ARM_LIMIT_EXTENDED.get();
return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
}
private boolean extendedLimit() {
return m_encoder.get() <= IntakeConstants.ARM_LIMIT_RETRACTED.get();
return m_encoder.get() >= IntakeConstants.ARM_LIMIT_EXTENDED.get();
}
@Override
public void armOutput(double percentOutput){
if(retractedLimit()) {
percentOutput = Math.max(percentOutput, 0);
} else if (extendedLimit()) {
// if(retractedLimit()) {
// percentOutput = Math.max(percentOutput, 0);
// }
if (extendedLimit()) {
percentOutput = Math.min(percentOutput, 0);
}
@@ -98,6 +104,9 @@ public class IntakeReal implements IntakeIO {
@Override
public void updateInputs(IntakeState state) {
m_encoder.update();
state.armAngle = Rotations.of(m_armMotor.getEncoder().getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorVelocity = RotationsPerSecond.of(m_armMotor.getEncoder().getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
// state.armMotorAcceleration = RotationsPerSecondPerSecond.of(m_armMotor.getEncoder().ge);
@@ -106,17 +115,15 @@ public class IntakeReal implements IntakeIO {
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedLimit = retractedLimit();
state.extendedLimit = extendedLimit();
state.armAngle = m_encoder.getRotations();
state.retractedSoftLimit = retractedLimit();
state.extendedSoftLimit = extendedLimit();
state.intakeEncoder = m_encoder.getRotations();
state.retractedLimitSwitch = m_armMotor.getReverseLimitSwitch().isPressed();
// if(state.retractedLimit) {
// // Set the arm motor to be zero if the limit switch is pressed
// m_armMotor.setPosition(0., 0);
// }
if(state.retractedLimitSwitch) {
m_encoder.resetRotations();
}
}
@Override