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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/IntakeConstants.java
+5 -18
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@@ -17,14 +17,14 @@ import frc4388.utility.status.CanDevice;
public class IntakeConstants {
// Motor conversions
public static final double ARM_MOTOR_GEAR_RATIO = 1.;
public static final double ROLLER_MOTOR_GEAR_RATIO = 1.;
public static final double ARM_MOTOR_GEAR_RATIO = 1/100;
public static final double ROLLER_MOTOR_GEAR_RATIO = 1/3;
//IDs
public static final CanDevice ARM_ID = new CanDevice("SHOOTER 1", 20);
public static final CanDevice ROLLER_ID = new CanDevice("SHOOTER 2", 21);
public static final CanDevice ARM_ID = new CanDevice("ARM", 20);
public static final CanDevice ROLLER_ID = new CanDevice("INTAKE_ROLLER", 21);
// Limits
@@ -44,7 +44,7 @@ public class IntakeConstants {
.withKI(0.0)
.withKD(10.0);
public static final Slot1Configs ROLLER_PID = new Slot1Configs()
public static final Slot0Configs ROLLER_PID = new Slot0Configs()
.withKP(2.0)
.withKI(0.0)
.withKD(10.0);
@@ -65,19 +65,6 @@ public class IntakeConstants {
.withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
);
public static final class IDs {
public static final CanDevice FLYWHEEK_CAN_DEVICE = new CanDevice("Flywheel", 22);
}
// public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()
// .withCurrentLimits(
// new CurrentLimitsConfigs()
// .withStatorCurrentLimit(40) // TODO: tune???
// .withStatorCurrentLimitEnable(true) // TODO: Figure out what this means
// ).withMotorOutput(
// new MotorOutputConfigs()
// .withNeutralMode(NeutralModeValue.Brake) // Brake so it stop
// .withDutyCycleNeutralDeadband(0.04) // TODO: Figure out what this means
// );
public static final TalonFXConfiguration ROLLER_MOTOR_CONFIG = new TalonFXConfiguration()
.withCurrentLimits(
new CurrentLimitsConfigs()