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Intake

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This commit is contained in:
Shatcar
2026-03-30 18:57:14 -06:00
parent 3fe5d0e5a1
commit 9021f480be
10 changed files with 159 additions and 28 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+1 -1
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@@ -115,7 +115,7 @@ public class Intake extends SubsystemBase {
case ExtendingRolling:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+11 -5
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@@ -4,6 +4,7 @@ import com.revrobotics.spark.FeedbackSensor;
import com.revrobotics.spark.config.SparkMaxConfig;
import com.revrobotics.spark.config.LimitSwitchConfig.Behavior;
import com.revrobotics.spark.config.LimitSwitchConfig.Type;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
@@ -13,7 +14,7 @@ public class IntakeConstants {
public static final double ARM_MOTOR_GEAR_RATIO = 125;
public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
public static final double ARM_ENCODER_OFFSET = -0.466;
public static final ConfigurableDouble ARM_ENCODER_OFFSET = new ConfigurableDouble("Arm Encoder Offset", 0);
@@ -42,11 +43,11 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.1);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.1);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.5);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.5);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.5);
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 2.0);
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .80);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
@@ -90,6 +91,11 @@ public class IntakeConstants {
.reverseLimitSwitchType(Type.kNormallyClosed)
.reverseLimitSwitchPosition(0)
.reverseLimitSwitchTriggerBehavior(Behavior.kStopMovingMotorAndSetPosition);
ARM_MOTOR_CONFIG.idleMode(IdleMode.kBrake);
ROLELR_MOTOR_CONFIG.idleMode(IdleMode.kCoast);
}
// public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+2
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@@ -20,6 +20,8 @@ public interface IntakeIO {
boolean retractedLimitSwitch = false;
boolean extendedSoftLimit = false;
boolean retractedSoftLimit = false;
boolean encoderConnected = false;
Angle intakeEncoder = Rotations.of(0);
Angle armAngle = Rotations.of(0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+3
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@@ -119,6 +119,8 @@ public class IntakeReal implements IntakeIO {
state.extendedSoftLimit = extendedLimit();
state.intakeEncoder = m_encoder.getRotations();
state.encoderConnected = m_encoder.isConnected();
state.retractedLimitSwitch = m_armMotor.getReverseLimitSwitch().isPressed();
if(state.retractedLimitSwitch) {
@@ -128,6 +130,7 @@ public class IntakeReal implements IntakeIO {
@Override
public void updateGains() {
m_encoder.loadRotations();
// IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
// IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();