Team4388/2026KPopRobotHunters
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Add SparkMax and fix arm mode issues

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This commit is contained in:
Michael Mikovsky
2026-03-25 11:39:55 -06:00
parent c6b0d29acd
commit 7eba3d8faa
6 changed files with 159 additions and 18 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -134,7 +134,7 @@ public class RobotContainer {
private Command RobotRev = new SequentialCommandGroup(
new InstantCommand(() -> m_robotShooter.spinUpShooting(), m_robotShooter),
IntakeExtended,
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.RollerStop), m_robotIntake)
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.Idle), m_robotIntake)
);
private Command RobotShootDriving = new SequentialCommandGroup(
src/main/java/frc4388/robot/RobotMap.java
+3 -2
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@@ -13,6 +13,7 @@ import org.photonvision.PhotonCamera;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.constants.Constants;
@@ -98,7 +99,7 @@ public class RobotMap {
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
SparkMax roller = new SparkMax(IntakeConstants.ROLLER_ID.id, com.revrobotics.spark.SparkLowLevel.MotorType.kBrushless);
DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
@@ -118,7 +119,7 @@ public class RobotMap {
FaultTalonFX.addDevice(shooter2, "Shooter2");
FaultTalonFX.addDevice(indexer, "Indexer");
FaultTalonFX.addDevice(arm, "Arm");
FaultTalonFX.addDevice(roller, "Roller");
// FaultTalonFX.addDevice(roller, "Roller");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getDriveMotor(), "Module 0 Drive");
FaultTalonFX.addDevice(swerveDrivetrainReal.getModule(0).getSteerMotor(), "Module 0 Steer");
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -7,13 +7,13 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 183;
public static final String GIT_SHA = "d639b3076d10f39eb5bc18c42c3dc5e707e991ff";
public static final String GIT_DATE = "2026-03-21 15:49:44 MDT";
public static final int GIT_REVISION = 184;
public static final String GIT_SHA = "c6b0d29acdb24728ed566b25d6434a45fbd963c7";
public static final String GIT_DATE = "2026-03-25 11:15:46 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-03-23 10:56:08 MDT";
public static final long BUILD_UNIX_TIME = 1774284968618L;
public static final int DIRTY = 0;
public static final String BUILD_DATE = "2026-03-25 11:17:58 MDT";
public static final long BUILD_UNIX_TIME = 1774459078868L;
public static final int DIRTY = 1;
private BuildConstants(){}
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+10
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@@ -30,6 +30,8 @@ public class Intake extends SubsystemBase {
public enum IntakeMode {
Extended,
Retracted,
Extending,
Retracting,
Idle,
Bouncing
}
@@ -101,6 +103,14 @@ public class Intake extends SubsystemBase {
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerOutput(state, 0);
break;
case Extending:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get()));
io.setRollerOutput(state, 0);
break;
case Bouncing:
io.setRollerOutput(state, 0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+6 -9
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@@ -1,11 +1,13 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Rotations;
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.spark.SparkMax;
import edu.wpi.first.math.trajectory.TrapezoidProfile;
import edu.wpi.first.math.util.Units;
@@ -17,7 +19,7 @@ import edu.wpi.first.wpilibj.DigitalInput;
public class IntakeReal implements IntakeIO {
TalonFX m_armMotor;
TalonFX m_rollerMotor;
SparkMax m_rollerMotor;
DigitalInput m_armLimitSwitch;
PositionDutyCycle armPosition = new PositionDutyCycle(0);
@@ -26,7 +28,7 @@ public class IntakeReal implements IntakeIO {
public IntakeReal(
DigitalInput armLimitSwitch,
TalonFX armMotor,
TalonFX rollerMotor
SparkMax rollerMotor
) {
// m_angleMotor = angleMotor;
// m_pitchMotor = pitchMotor;
@@ -37,7 +39,7 @@ public class IntakeReal implements IntakeIO {
// Apply the configs
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_MOTOR_CONFIG);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
// m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
armPosition.Slot = 0;
// rollerVelocity.Slot = 0;
@@ -59,11 +61,6 @@ public class IntakeReal implements IntakeIO {
public void setRollerOutput(IntakeState state, double rollerOutput) {
state.rollerTargetOutput = rollerOutput;
if(rollerOutput == 0) {
m_rollerMotor.set(0);
return;
}
m_rollerMotor.set(rollerOutput);
}
@@ -133,7 +130,7 @@ public class IntakeReal implements IntakeIO {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedLimit = !m_armLimitSwitch.get();
state.armMotorVelocity = m_armMotor.getVelocity().getValue();