Team4388/2026KPopRobotHunters
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This commit is contained in:
Shikhar
2026-02-16 16:19:51 -07:00
parent 8551843831
commit 84596775b7
4 changed files with 23 additions and 21 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+6 -3
View File
@@ -76,17 +76,20 @@ public class Intake extends SubsystemBase {
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
case Extending:
io.armOutput(0.1);
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracting:
io.armOutput(-0.1);
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
case Idle:
case Idle:
io.stopArm();
break;
}
if (state.retractedLimit){
this.mode = IntakeMode.Retracted;
}
}
}
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+2 -2
View File
@@ -95,7 +95,7 @@ public class IntakeReal implements IntakeIO {
public void stopArm(){
m_armMotor.set(0);
}
@Override
public void armOutput(double percentOutput){
var d = new DutyCycleOut(0);
@@ -109,7 +109,7 @@ public class IntakeReal implements IntakeIO {
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.retractedLimit = m_armLimitSwitch.get();
state.retractedLimit = !m_armLimitSwitch.get();
state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
}