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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/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