Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
Code Issues Packages Projects Releases Wiki Activity

Get IDK to work

Browse Source
This commit is contained in:
Michael Mikovsky
2026-02-09 18:38:55 -08:00
parent 51d2b80ea0
commit 6ce6d0eb0b
5 changed files with 48 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+9
View File
@@ -57,6 +57,15 @@ public class IntakeConstants {
.withKI(0.0)
.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 roller_kP = new ConfigurableDouble("Roller KP", 0.2);
public static ConfigurableDouble roller_kI = new ConfigurableDouble("Roller KI", 0);
public static ConfigurableDouble roller_kD = new ConfigurableDouble("Roller KD", 0);
// 0 is paralell to the ground, 90 is directly up
// public static final Angle PITCH_LIMIT_UPPER = Degrees.of(90);
// public static final Angle PITCH_LIMIT_LOWER = Degrees.of(0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+12 -14
View File
@@ -58,6 +58,12 @@ public class IntakeReal implements IntakeIO {
@Override
public void setRollerVelocity(IntakeState state, AngularVelocity angularVelocity) {
state.rollerTargetVelocity = angularVelocity;
if(angularVelocity.baseUnitMagnitude() == 0) {
m_rollerMotor.set(0);
return;
}
// (REAL_ROT / SEC) * (MOTOR_ROT / REAL_ROT) = (MOTOR_ROT / SEC)
AngularVelocity motorSpeed = angularVelocity.div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
@@ -80,14 +86,6 @@ public class IntakeReal implements IntakeIO {
m_armMotor.setControl(armPosition.withPosition(motorAngle));
}
ConfigurableDouble arm_kP = new ConfigurableDouble("ARM KP", 0.2);
ConfigurableDouble arm_kI = new ConfigurableDouble("ARM KP", 0);
ConfigurableDouble arm_kD = new ConfigurableDouble("ARM KP", 0);
ConfigurableDouble roller_kP = new ConfigurableDouble("Roller KP", 0.2);
ConfigurableDouble roller_kI = new ConfigurableDouble("Roller KI", 0);
ConfigurableDouble roller_kD = new ConfigurableDouble("Roller KD", 0);
@Override
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().times(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
@@ -100,14 +98,14 @@ public class IntakeReal implements IntakeIO {
@Override
public void updateGains() {
IntakeConstants.ARM_PID.kP = arm_kP.get();
IntakeConstants.ARM_PID.kI = arm_kI.get();
IntakeConstants.ARM_PID.kD = arm_kD.get();
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);
IntakeConstants.ROLLER_PID.kP = roller_kP.get();
IntakeConstants.ROLLER_PID.kI = roller_kI.get();
IntakeConstants.ROLLER_PID.kD = roller_kD.get();
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);
}
}