Team4388/2026KPopRobotHunters
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4/3 updates

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This commit is contained in:
Shatcar
2026-04-03 22:08:13 -06:00
parent 3750a97424
commit d40cf208e8
5 changed files with 46 additions and 33 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+23 -18
View File
@@ -38,7 +38,8 @@ public class Intake extends SubsystemBase {
Idle,
RectractTorque,
Bouncing
Bouncing,
ExpelBalls
}
private boolean overCompressed = false;
@@ -100,11 +101,9 @@ public class Intake extends SubsystemBase {
io.updateInputs(state);
if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD.get()){
overCompressed = false;
} else if (state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD.get()) {
overCompressed = true;
}
overCompressed =
Math.abs(state.armMotorCurrent.in(Amps)) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get();
// Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get();
Logger.recordOutput("overCompressed", overCompressed);
@@ -133,11 +132,11 @@ public class Intake extends SubsystemBase {
case Retracting:
io.armOutput(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
} else {
io.setRollerOutput(state, 0);
}
// if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
// } else {
// io.setRollerOutput(state, 0);
// }
break;
case Bouncing:
@@ -147,7 +146,7 @@ public class Intake extends SubsystemBase {
state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
// Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
) {
System.out.println("RESET BOUNCE");
// System.out.println("RESET BOUNCE");
this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
}
@@ -170,19 +169,25 @@ public class Intake extends SubsystemBase {
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
if (!overCompressed){
io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
} else if (overCompressed) {
} else {
io.armOutput(IntakeConstants.ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT.get());
}
if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
} else {
io.setRollerOutput(state, 0);
}
// if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
// io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
// } else {
// io.setRollerOutput(state, 0);
// }
break;
case Idle:
io.armOutput(0);
io.setRollerOutput(state, 0);
break;
case ExpelBalls:
io.armOutput(0);
io.setRollerOutput(state, -0.2);
break;
}
// if (state.retractedLimit){
// this.mode = IntakeMode.Retracted;
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+8 -8
View File
@@ -25,15 +25,15 @@ public class IntakeConstants {
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", 0.1);
public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("Bounce Max Output", 0.2);
public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 16);
public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 30);
public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 4);
//squeeze constants
public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20);
public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.1);
public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", -0.02);
// public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LOWER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current LOWER THRESHOLD", 20);
// public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_UPPER_THRESHOLD = new ConfigurableDouble("Intake Squeeze Current UPPER THRESHOLD", 25);
public static final ConfigurableDouble ARM_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm squeeze % output", -0.2);
public static final ConfigurableDouble ARM_REDUCED_SQUEEZE_PERCENT_OUTPUT = new ConfigurableDouble("Arm reduce squeeze % output", 0.02);
//IDs
@@ -54,13 +54,13 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_LIMIT_RETRACTED = new ConfigurableDouble("Arm angle retracted", 0.);
public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.75);
public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
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", -0.2);
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .80);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .20);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .20);
// public static final ConfigurableDouble ROLL = new ConfigurableDouble("Arm angle extended", 0.25);