Team4388/2026KPopRobotHunters
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Fix errors

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This commit is contained in:
Shikhar
2026-02-16 15:57:24 -07:00
parent f88619a1da
commit 8551843831
5 changed files with 42 additions and 33 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+10 -14
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@@ -7,9 +7,7 @@ import java.util.function.Supplier;
import org.littletonrobotics.junction.Logger;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc4388.robot.subsystems.intake.Intake.IntakeMode;
public class Intake extends SubsystemBase {
public IntakeIO io;
@@ -29,7 +27,8 @@ public class Intake extends SubsystemBase {
Extended,
Retracted,
Extending,
Retracting
Retracting,
Idle
}
private IntakeMode mode = IntakeMode.Extended;
@@ -73,22 +72,19 @@ public class Intake extends SubsystemBase {
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracted:
if (!state.retractedLimit){
io.stopArm();
} else {
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
}
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
case Extending:
io.armExtend(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.armOutput(0.1);
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracting:
if (!state.retractedLimit){
io.stopArm();
} else {
io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
}
io.armOutput(-0.1);
io.setRollerVelocity(state, RotationsPerSecond.of(0));
break;
case Idle:
io.stopArm();
break;
}