Team4388/2026KPopRobotHunters
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torque retract upper and lower curent lim thresh

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This commit is contained in:
Shikhar
2026-03-31 20:51:47 -06:00
parent 2407a900c9
commit 958bdc46fd
5 changed files with 23 additions and 13 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+1 -1
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@@ -404,7 +404,7 @@ public class RobotContainer {
new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
.onTrue(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Bouncing);
m_robotIntake.setMode(IntakeMode.RectractTorque);
}))
.onFalse(new InstantCommand(() -> {
m_robotIntake.setMode(IntakeMode.Idle);
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 = 189;
public static final String GIT_SHA = "65c76aca95de81f342df7ff26a77e18856f22a83";
public static final String GIT_DATE = "2026-03-28 15:56:54 MDT";
public static final int GIT_REVISION = 197;
public static final String GIT_SHA = "2407a900c901efca8c60d0a6143e39db7cf90201";
public static final String GIT_DATE = "2026-03-31 19:47:27 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-03-30 19:50:05 MDT";
public static final long BUILD_UNIX_TIME = 1774921805228L;
public static final String BUILD_DATE = "2026-03-31 20:33:43 MDT";
public static final long BUILD_UNIX_TIME = 1775010823079L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+11 -3
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@@ -40,6 +40,7 @@ public class Intake extends SubsystemBase {
RectractTorque,
Bouncing
}
private boolean overCompressed = false;
private IntakeMode mode = IntakeMode.Idle;
@@ -87,7 +88,6 @@ public class Intake extends SubsystemBase {
// }
@Override
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
@@ -100,6 +100,14 @@ public class Intake extends SubsystemBase {
io.updateInputs(state);
if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD.get()){
overCompressed = false;
} else if (state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD.get()) {
overCompressed = true;
}
Logger.recordOutput("overCompressed", overCompressed);
// getCurrentTime
switch (mode) {
@@ -160,9 +168,9 @@ public class Intake extends SubsystemBase {
break;
case RectractTorque:
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LIMIT.get()){
if (!overCompressed){
io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
} else {
} else if (overCompressed) {
io.armOutput(IntakeConstants.ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT.get());
}
if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+3 -2
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@@ -26,9 +26,10 @@ public class IntakeConstants {
//squeeze constants
public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LIMIT = new ConfigurableDouble("Intake Squeeze Current Limit", 20);
public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20);
public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.1);
public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.02);
public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", -0.02);
//IDs
src/main/java/frc4388/robot/subsystems/swerve/SwerveDriveConstants.java
+3 -2
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@@ -67,16 +67,16 @@ public final class SwerveDriveConstants {
// Operation
public static final double FORWARD_OFFSET = 90; // 0, 90, 180, 270
public static ConfigurableDouble FAR_OFFSET = new ConfigurableDouble("Far Offset", 0.05); // degrees to add to the angle when we are far away, to account for camera misalignment. TODO: find value.
public static final boolean DRIFT_CORRECTION_ENABLED = true;
public static final boolean INVERT_X = false;
public static final boolean INVERT_Y = true;
public static final boolean INVERT_ROTATION = false;
public static ConfigurableDouble FAR_OFFSET = new ConfigurableDouble("Far Offset", 0.05);
// public static final Trim POINTLESS_TRIM = new Trim("Pointless Trim", Double.MAX_VALUE, Double.MIN_VALUE, 0.1, 0);
public static final class ModuleSpecificConstants { //2026
private static final class ModuleSpecificConstants { //2025
//Front Left
private static final Angle FRONT_LEFT_ENCODER_OFFSET = Rotations.of(0.49707+0.350-0.03+0.0134+0.06-0.043);
private static final boolean FRONT_LEFT_DRIVE_MOTOR_INVERTED = false;
@@ -166,6 +166,7 @@ public final class SwerveDriveConstants {
public static final ConfigurableDouble AIM_kP = new ConfigurableDouble("Aim kP", 12);
public static final ConfigurableDouble AIM_kI = new ConfigurableDouble("Aim kI", 0);
public static final ConfigurableDouble AIM_kD = new ConfigurableDouble("Aim kD", 0.1);
public static final ConfigurableDouble HOLD_POSITION_kP = new ConfigurableDouble("Hold Position kP", 15);
// public static final Gains AIM_GAINS = new Gains(2.5, 0, 0.1);
}