Team4388/2026KPopRobotHunters
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Add bounce code

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This commit is contained in:
Michael Mikovsky
2026-03-25 11:15:46 -06:00
parent d639b3076d
commit c6b0d29acd
4 changed files with 57 additions and 20 deletions
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src/main/java/frc4388/robot/constants/BuildConstants.java
+8 -8
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@@ -5,15 +5,15 @@ package frc4388.robot.constants;
*/
public final class BuildConstants {
public static final String MAVEN_GROUP = "";
public static final String MAVEN_NAME = "2026KPopRobotHunters";
public static final String MAVEN_NAME = "2026KPopRobotHunters-new";
public static final String VERSION = "unspecified";
public static final int GIT_REVISION = 182;
public static final String GIT_SHA = "75cab187e2225e51259336e5569f15c41f9169d5";
public static final String GIT_DATE = "2026-03-21 13:38:34 MDT";
public static final String GIT_BRANCH = "MiraOrg";
public static final String BUILD_DATE = "2026-03-21 15:45:59 MDT";
public static final long BUILD_UNIX_TIME = 1774129559544L;
public static final int DIRTY = 1;
public static final int GIT_REVISION = 183;
public static final String GIT_SHA = "d639b3076d10f39eb5bc18c42c3dc5e707e991ff";
public static final String GIT_DATE = "2026-03-21 15:49:44 MDT";
public static final String GIT_BRANCH = "New-Intake";
public static final String BUILD_DATE = "2026-03-23 10:56:08 MDT";
public static final long BUILD_UNIX_TIME = 1774284968618L;
public static final int DIRTY = 0;
private BuildConstants(){}
}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+35 -12
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@@ -1,10 +1,15 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import java.util.function.Supplier;
import org.littletonrobotics.junction.Logger;
import com.ctre.phoenix6.Utils;
import edu.wpi.first.math.geometry.Pose2d;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
@@ -25,16 +30,23 @@ public class Intake extends SubsystemBase {
public enum IntakeMode {
Extended,
Retracted,
Extending,
Retracting,
Idle,
RollerStop
Bouncing
}
private IntakeMode mode = IntakeMode.Idle;
public void setMode(IntakeMode mode) {
this.mode = mode;
switch (mode) {
case Bouncing:
// When bounce is enabled: set the bounce timer
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.BOUNCE_HALF_PERIOD;
break;
default:
break;
}
}
public IntakeMode getMode() {
@@ -78,6 +90,8 @@ public class Intake extends SubsystemBase {
io.updateInputs(state);
// getCurrentTime
switch (mode) {
case Extended:
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_EXTENDED.get()));
@@ -87,18 +101,27 @@ public class Intake extends SubsystemBase {
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerOutput(state, 0);
break;
case Extending:
io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
break;
case Retracting:
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
case Bouncing:
io.setRollerOutput(state, 0);
if(
state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get() &&
state.armMotorVelocity.in(RotationsPerSecond) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
) {
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.BOUNCE_HALF_PERIOD;
}
// Get the time delta from the last bounce time update
double currentTime = Utils.getSystemTimeSeconds() - state.currentBounceTime;
// Get the percentage through the bounce period (0 output means one half period has passed)
double percentOutput = (currentTime / IntakeConstants.BOUNCE_HALF_PERIOD) * IntakeConstants.INTAKE_BOUNCE_OUTPUT;
// Clamp the output of the motor to some value
percentOutput = Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT);
io.armOutput(percentOutput);
break;
case Idle:
io.stopArm();
break;
case RollerStop:
// io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
io.setRollerOutput(state, 0);
break;
}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+12
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@@ -1,11 +1,16 @@
package frc4388.robot.subsystems.intake;
import static edu.wpi.first.units.Units.Amps;
import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
import com.ctre.phoenix6.configs.Slot0Configs;
import com.ctre.phoenix6.configs.TalonFXConfiguration;
import com.ctre.phoenix6.signals.NeutralModeValue;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import frc4388.utility.configurable.ConfigurableDouble;
import frc4388.utility.status.CanDevice;
@@ -16,6 +21,13 @@ public class IntakeConstants {
public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
public static final double BOUNCE_HALF_PERIOD = 5.;
public static final double INTAKE_BOUNCE_OUTPUT = 0.2;
public static final double INTAKE_BOUNCE_MAX_OUTPUT = 0.5;
public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 20);
public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 20);
//IDs
src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+2
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@@ -15,6 +15,8 @@ import edu.wpi.first.units.measure.Current;
public interface IntakeIO {
@AutoLog
public class IntakeState {
double currentBounceTime = 0;
boolean retractedLimit = false;
Angle armAngle = Rotations.of(0);
Angle armTargetAngle = Rotations.of(0);