Team4388/2026KPopRobotHunters
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This commit is contained in:
Shatcar
2026-03-28 13:30:33 -06:00
parent aead1c165a
commit d010829c21
7 changed files with 150 additions and 16 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+4 -4
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@@ -44,7 +44,7 @@ public class Intake extends SubsystemBase {
switch (mode) {
case Bouncing:
// When bounce is enabled: set the bounce timer
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.BOUNCE_HALF_PERIOD;
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
break;
default:
break;
@@ -118,15 +118,15 @@ public class Intake extends SubsystemBase {
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;
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
}
// 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;
double percentOutput = (currentTime / IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get()) * IntakeConstants.INTAKE_BOUNCE_OUTPUT.get();
// 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);
percentOutput = Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
io.armOutput(percentOutput);
break;