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/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);