Add bounce code

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -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 int GIT_REVISION = 183;
-  public static final String GIT_SHA = "75cab187e2225e51259336e5569f15c41f9169d5";
+  public static final String GIT_SHA = "d639b3076d10f39eb5bc18c42c3dc5e707e991ff";
-  public static final String GIT_DATE = "2026-03-21 13:38:34 MDT";
+  public static final String GIT_DATE = "2026-03-21 15:49:44 MDT";
-  public static final String GIT_BRANCH = "MiraOrg";
+  public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-03-21 15:45:59 MDT";
+  public static final String BUILD_DATE = "2026-03-23 10:56:08 MDT";
-  public static final long BUILD_UNIX_TIME = 1774129559544L;
+  public static final long BUILD_UNIX_TIME = 1774284968618L;
-  public static final int DIRTY = 1;
+  public static final int DIRTY = 0;
 
   private BuildConstants(){}
 }

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -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:
+            case Bouncing:
-                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());
                 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();
+                // io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
-                break;
-            case RollerStop:
                 io.setRollerOutput(state, 0);
                 break;
         }

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -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

@@ -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);