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
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@@ -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;
}
}
}