Team4388/2026KPopRobotHunters
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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/IntakeConstants.java
+7 -5
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@@ -13,11 +13,13 @@ public class IntakeConstants {
public static final double ARM_MOTOR_GEAR_RATIO = 125;
public static final double ROLLER_MOTOR_GEAR_RATIO = 3;
public static final double ARM_ENCODER_OFFSET = 0.;
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_HALF_PERIOD = new ConfigurableDouble("Bounce Half Period", 5.);
public static final ConfigurableDouble INTAKE_BOUNCE_OUTPUT = new ConfigurableDouble("Bounce Output", 0.2);
public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("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);
@@ -27,7 +29,7 @@ public class IntakeConstants {
public static final CanDevice ARM_ID = new CanDevice("ARM", 20);
public static final CanDevice ROLLER_ID = new CanDevice("INTAKE_ROLLER", 21);
// public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
public static final int ARM_ENCODER_ID = 0;
// Limits
@@ -40,7 +42,7 @@ public class IntakeConstants {
// public static final Angle ARM_LIMIT_UPPER = Degrees.of(-90);
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.1);
public static final ConfigurableDouble ARM_ssLIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 0.33);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.4);
public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.4);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .70);