Team4388/2026KPopRobotHunters
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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
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src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+12 -14
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@@ -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);
}
}