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Switch Motor type

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This commit is contained in:
mimigamin
2026-04-01 17:58:15 -06:00
parent 958bdc46fd
commit 82be568dc4
4 changed files with 28 additions and 23 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+5 -4
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@@ -21,17 +21,18 @@ import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import frc4388.robot.subsystems.shooter.ShooterConstants;
import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
SparkMax m_armMotor;
SparkMax m_rollerMotor;
TalonFX m_rollerMotor;
JankCoder m_encoder;
public IntakeReal(
SparkMax armMotor,
SparkMax rollerMotor,
TalonFX rollerMotor,
JankCoder jankCoder
) {
// m_angleMotor = angleMotor;
@@ -41,7 +42,7 @@ public class IntakeReal implements IntakeIO {
m_encoder = jankCoder;
m_armMotor.configure(IntakeConstants.ARM_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
m_rollerMotor.configure(IntakeConstants.ROLELR_MOTOR_CONFIG, ResetMode.kNoResetSafeParameters, PersistMode.kPersistParameters);
m_rollerMotor.getConfigurator().apply(IntakeConstants.ROLLER_MOTOR_CONFIG);
}
@@ -113,7 +114,7 @@ public class IntakeReal implements IntakeIO {
state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
state.rollerOutput = m_rollerMotor.get();
state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
// state.rollerMotorCurrent = Amps.of(m_rollerMotor.getOutputCurrent());
state.retractedSoftLimit = retractedLimit();
state.extendedSoftLimit = extendedLimit();