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Fix with angular

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This commit is contained in:
Michael Mikovsky
2026-02-27 20:38:24 -08:00
parent f3d16724cb
commit 9362d4389f
2 changed files with 6 additions and 7 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+4 -4
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@@ -8,6 +8,8 @@ import org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.measure.Acceleration; import edu.wpi.first.units.measure.Acceleration;
import edu.wpi.first.units.measure.Angle; import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularAcceleration;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current; import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Velocity; import edu.wpi.first.units.measure.Velocity;
@@ -19,10 +21,8 @@ public interface IntakeIO {
Angle armTargetAngle = Rotations.of(0); Angle armTargetAngle = Rotations.of(0);
Current armMotorCurrent = Amps.of(0); Current armMotorCurrent = Amps.of(0);
@SuppressWarnings("rawtypes") AngularVelocity armMotorVelocity;
Velocity armMotorVelocity; AngularAcceleration armMotorAcceleration;
@SuppressWarnings("rawtypes")
Acceleration armMotorAcceleration;
// Angle shooterPitch = Rotations.of(0); // Angle shooterPitch = Rotations.of(0);
// Angle shooterTargetPitch = Rotations.of(0); // Angle shooterTargetPitch = Rotations.of(0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+2 -3
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@@ -128,7 +128,6 @@ public class IntakeReal implements IntakeIO {
); );
} }
@SuppressWarnings("rawtypes")
@Override @Override
public void updateInputs(IntakeState state) { public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO); state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
@@ -137,8 +136,8 @@ public class IntakeReal implements IntakeIO {
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue(); state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
state.retractedLimit = !m_armLimitSwitch.get(); state.retractedLimit = !m_armLimitSwitch.get();
// state.armMotorVelocity = (Velocity) m_armMotor.getVelocity(); state.armMotorVelocity = m_armMotor.getVelocity().getValue();
// state.armMotorAcceleration = (Acceleration) m_armMotor.getAcceleration(); state.armMotorAcceleration = m_armMotor.getAcceleration().getValue();
if(state.retractedLimit) { if(state.retractedLimit) {
// Set the arm motor to be zero if the limit switch is pressed // Set the arm motor to be zero if the limit switch is pressed