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Intake code ready for robot

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This commit is contained in:
Michael Mikovsky
2026-02-09 16:03:48 -08:00
parent 684e18ddcc
commit d90bddac0f
6 changed files with 61 additions and 70 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+2 -8
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@@ -33,11 +33,11 @@ public class Intake extends SubsystemBase {
public void setMode(IntakeMode mode) {
switch (mode) {
case Up:
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_UPPER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_STOP);
break;
case Down:
// io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
io.setArmAngle(state, IntakeConstants.ARM_LIMIT_LOWER);
io.setRollerVelocity(state, IntakeConstants.ROLLER_MAX_VELOCITY);
break;
}
@@ -60,17 +60,11 @@ public class Intake extends SubsystemBase {
@Override
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
Logger.processInputs("Intake", state);
Pose2d pose = m_swervePoseSupplier.get();
Angle robotRot = pose.getRotation().getMeasure();
io.updateInputs(state);
}