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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/subsystems/intake/Intake.java
+1 -13
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@@ -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;
}