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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/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();