Team4388/2026KPopRobotHunters
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Intake roller model

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This commit is contained in:
mimigamin
2026-04-06 19:50:34 -06:00
parent f9b9a7dd30
commit 9564554c07
24 changed files with 489 additions and 328 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+6 -1
View File
@@ -112,6 +112,10 @@ public class RobotContainer {
private Command IntakeExtended = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.ExtendingRolling), m_robotIntake)
);
private Command LabubuGrowl = new SequentialCommandGroup(
new InstantCommand(() -> m_robotIntake.setMode(IntakeMode.LabubuGrowl), m_robotIntake)
);
// private Command LidarIntake = new SequentialCommandGroup(
// // Right now this will just go to the closest ball constantly updating - need to make it so it locks on one ball
@@ -189,6 +193,7 @@ public class RobotContainer {
NamedCommands.registerCommand("Robot Shoot", RobotShoot);
// NamedCommands.registerCommand("Lidar Intake", LidarIntake);
NamedCommands.registerCommand("Intake Extended", IntakeExtended);
NamedCommands.registerCommand("Labubu Growl", LabubuGrowl);
NamedCommands.registerCommand("Robot Shoot Driving", RobotShootDriving);
NamedCommands.registerCommand("Intake Reference", WaitIntakeReference);
NamedCommands.registerCommand("WaitShooter", new WaitUntilCommand(m_robotShooter::isShooterUpToSpeed));
@@ -615,7 +620,7 @@ public class RobotContainer {
for (String auto : autos) {
if (auto.endsWith(".auto"))
if (auto.startsWith("X. "))
if (auto.startsWith("X. ")) // Mira!
autoChooser.addOption(auto.replaceAll(".auto", ""), auto.replaceAll(".auto", ""));
// System.out.println(auto);
}
src/main/java/frc4388/robot/constants/BuildConstants.java
+5 -5
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@@ -7,12 +7,12 @@ public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 218;
public static final String GIT_SHA = "74009b86bbde67d814d16020ce4cec00b8267411";
public static final String GIT_DATE = "2026-04-04 16:17:27 MDT";
public static final int GIT_REVISION = 219;
public static final String GIT_SHA = "f9b9a7dd30b53213e360f67c5b7bcd4567fa30f3";
public static final String GIT_DATE = "2026-04-04 20:41:00 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-04-04 19:50:19 MDT";
public static final long BUILD_UNIX_TIME = 1775353819651L;
public static final String BUILD_DATE = "2026-04-06 19:43:24 MDT";
public static final long BUILD_UNIX_TIME = 1775526204113L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+1 -13
View File
@@ -31,9 +31,6 @@ public class Intake extends SubsystemBase {
}
public enum IntakeMode {
ExtendedREMOVEME,
RetractedREMOVEME,
ExtendingIdle,
ExtendingRolling,
@@ -120,15 +117,6 @@ public class Intake extends SubsystemBase {
// getCurrentTime
switch (mode) {
case ExtendedREMOVEME:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
// io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case RetractedREMOVEME:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
// io.setRollerOutput(state, 0);
break;
case ExtendingIdle:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
@@ -198,7 +186,7 @@ public class Intake extends SubsystemBase {
io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
break;
case LabubuGrowl:
io.armOutput(0);
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_LABUBU_GROWL_PERCENT_OUTPUT.get());
break;
}