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Sparkmax for arm motor

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Shatcar
2026-03-28 09:59:30 -06:00
parent 7eba3d8faa
commit bc933eba94
9 changed files with 131 additions and 171 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+6 -6
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@@ -96,19 +96,19 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
// io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracted:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerOutput(state, 0);
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
// io.setRollerOutput(state, 0);
break;
case Extending:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get()));
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get()));
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
io.setRollerOutput(state, 0);
break;
case Bouncing: