Merge branch 'New-Intake' of https://github.com/Team4388/2026KPopRobotHunters into New-Intake

.gitignore

@@ -185,3 +185,4 @@ compile_commands.json
 
 # Eclipse generated file for annotation processors
 .factorypath
+src/main/java/frc4388/utility/compute/JankCoder copy.java

src/main/java/frc4388/robot/Robot.java

@@ -15,6 +15,8 @@ import org.littletonrobotics.junction.networktables.NT4Publisher;
 import org.littletonrobotics.junction.wpilog.WPILOGReader;
 import org.littletonrobotics.junction.wpilog.WPILOGWriter;
 
+import com.ctre.phoenix6.SignalLogger;
+
 import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.CommandScheduler;
@@ -50,6 +52,9 @@ public class Robot extends LoggedRobot {
     // Start logging with AdvantageKit
     startLogging();
 
+    com.revrobotics.util.StatusLogger.disableAutoLogging();
+    SignalLogger.enableAutoLogging(false);
+
     // Instantiate our RobotContainer.  This will perform all our button bindings, and put our
     // autonomous chooser on the dashboard.
     m_robotContainer = new RobotContainer();

src/main/java/frc4388/robot/RobotContainer.java

@@ -378,11 +378,14 @@ public class RobotContainer {
         new JoystickButton(getDeadbandedOperatorController(), XboxController.Y_BUTTON)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Retracting);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
             }));
 
         
 
-        new Trigger(() -> getDeadbandedDriverController().getPOV() == 90)
+        new Trigger(() -> getDeadbandedOperatorController().getPOV() == 90)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.ExtendingIdle);
             }))
@@ -390,13 +393,24 @@ public class RobotContainer {
                 m_robotIntake.setMode(IntakeMode.Idle);
             }));
 
-        new Trigger(() -> getDeadbandedDriverController().getPOV() == 270)
+        new Trigger(() -> getDeadbandedOperatorController().getPOV() == 270)
             .onTrue(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Retracting);
             }))
             .onFalse(new InstantCommand(() -> {
                 m_robotIntake.setMode(IntakeMode.Idle);
             }));
+
+            
+        new Trigger(() -> getDeadbandedOperatorController().getPOV() == 0)
+            .onTrue(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Bouncing);
+            }))
+            .onFalse(new InstantCommand(() -> {
+                m_robotIntake.setMode(IntakeMode.Idle);
+            }));
+
+
             // .onFalse(new InstantCommand(() -> {
             //     m_robotIntake.setMode(IntakeMode.Idle);
             // }));

src/main/java/frc4388/robot/constants/BuildConstants.java

@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "2026KPopRobotHunters";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 190;
+  public static final int GIT_REVISION = 189;
-  public static final String GIT_SHA = "3fe5d0e5a1cfe24710b755b489fa61255e307095";
+  public static final String GIT_SHA = "65c76aca95de81f342df7ff26a77e18856f22a83";
-  public static final String GIT_DATE = "2026-03-30 16:15:43 MDT";
+  public static final String GIT_DATE = "2026-03-28 15:56:54 MDT";
   public static final String GIT_BRANCH = "New-Intake";
-  public static final String BUILD_DATE = "2026-03-31 18:51:12 MDT";
+  public static final String BUILD_DATE = "2026-03-30 19:50:05 MDT";
-  public static final long BUILD_UNIX_TIME = 1775004672077L;
+  public static final long BUILD_UNIX_TIME = 1774921805228L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

src/main/java/frc4388/robot/subsystems/intake/Intake.java

@@ -119,7 +119,7 @@ public class Intake extends SubsystemBase {
                 
             case ExtendingRolling:
                 io.armOutput(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
-                io.setRollerOutput(state, IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
+                io.setRollerOutput(state, IntakeConstants.ROLLER_PERCENT_OUTPUT.get());
                 break;
 
             case Retracting:
@@ -133,12 +133,13 @@ public class Intake extends SubsystemBase {
                 break;
             
             case Bouncing:
-                io.setRollerOutput(state, 0);
+                // io.setRollerOutput(state, 0);
 
                 if(
-                    state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get() &&
+                    state.armMotorCurrent.in(Amps) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get()
-                    state.armMotorVelocity.in(RotationsPerSecond) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
+                    // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get()
                 ) {
+                    System.out.println("RESET BOUNCE");
                     this.state.currentBounceTime = Utils.getSystemTimeSeconds() + IntakeConstants.INTAKE_BOUNCE_HALF_PERIOD.get();
                 }
 
@@ -147,11 +148,11 @@ public class Intake extends SubsystemBase {
                 // Get the percentage through the bounce period (0 output means one half period has passed)
                 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.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
+                percentOutput = -Math.max(Math.min(percentOutput, IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get()), -IntakeConstants.INTAKE_BOUNCE_MAX_OUTPUT.get());
 
                 io.armOutput(percentOutput);
 
-                if(state.intakeEncoder.in(Rotations) > IntakeConstants.ARM_REVERSE_ROLLER_RANGE.get()) {
+                if(percentOutput < 0) {
                     io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
                 } else {
                     io.setRollerOutput(state, 0);

src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java

@@ -4,6 +4,7 @@ import com.revrobotics.spark.FeedbackSensor;
 import com.revrobotics.spark.config.SparkMaxConfig;
 import com.revrobotics.spark.config.LimitSwitchConfig.Behavior;
 import com.revrobotics.spark.config.LimitSwitchConfig.Type;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
 
 import frc4388.utility.configurable.ConfigurableDouble;
 import frc4388.utility.status.CanDevice;
@@ -13,15 +14,15 @@ 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 = -0.466;
+    public static final ConfigurableDouble ARM_ENCODER_OFFSET = new ConfigurableDouble("Arm Encoder Offset", 0);
 
 
 
     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_OUTPUT = new ConfigurableDouble("Bounce Output", 0.1);
-    public static final ConfigurableDouble INTAKE_BOUNCE_MAX_OUTPUT = new ConfigurableDouble("Bounce Max Output", 0.5);
+    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", 20);
+    public static final ConfigurableDouble INTAKE_BOUNCE_CURRENT_LIMIT = new ConfigurableDouble("Intake Bounce Current Limit", 16);
-    public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 20);
+    public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 4);
 
 
     //squeeze constants
@@ -47,11 +48,11 @@ 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.);
-    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.8);
+    public static final ConfigurableDouble ARM_LIMIT_EXTENDED = new ConfigurableDouble("Arm angle extended", 1.5);
-    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.1);
+    public static final ConfigurableDouble ARM_EXTEND_PERCENT_OUTPUT = new ConfigurableDouble("Arm extend % output", 0.2);
-    public static final ConfigurableDouble ARM_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Arm retract % output", -0.1);
+    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", 2.0);
+    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);
@@ -95,6 +96,11 @@ public class IntakeConstants {
             .reverseLimitSwitchType(Type.kNormallyClosed)
             .reverseLimitSwitchPosition(0)
             .reverseLimitSwitchTriggerBehavior(Behavior.kStopMovingMotorAndSetPosition);
+
+        ARM_MOTOR_CONFIG.idleMode(IdleMode.kBrake);
+
+        
+        ROLELR_MOTOR_CONFIG.idleMode(IdleMode.kCoast);
     }
 
     // public static final TalonFXConfiguration ARM_MOTOR_CONFIG = new TalonFXConfiguration()

src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java

@@ -20,6 +20,8 @@ public interface IntakeIO {
         boolean retractedLimitSwitch = false;
         boolean extendedSoftLimit = false;
         boolean retractedSoftLimit = false;
+
+        boolean encoderConnected = false;
         Angle intakeEncoder = Rotations.of(0);
 
         Angle armAngle = Rotations.of(0);

src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java

@@ -119,6 +119,8 @@ public class IntakeReal implements IntakeIO {
         state.extendedSoftLimit = extendedLimit();
 
         state.intakeEncoder = m_encoder.getRotations();
+        state.encoderConnected = m_encoder.isConnected();
+
         state.retractedLimitSwitch = m_armMotor.getReverseLimitSwitch().isPressed();
 
         if(state.retractedLimitSwitch) {
@@ -128,6 +130,7 @@ public class IntakeReal implements IntakeIO {
 
     @Override 
     public void updateGains() {
+        m_encoder.loadRotations();
 
         // IntakeConstants.ARM_PID.kP = IntakeConstants.arm_kP.get();
         // IntakeConstants.ARM_PID.kI = IntakeConstants.arm_kI.get();

src/main/java/frc4388/utility/compute/JankCoder copy.java.old

@@ -0,0 +1,100 @@
+package frc4388.utility.compute;
+
+import static edu.wpi.first.units.Units.Rotations;
+
+import java.io.FileInputStream;
+import java.io.FileOutputStream;
+
+import edu.wpi.first.units.measure.Angle;
+import edu.wpi.first.wpilibj.DutyCycleEncoder;
+
+public class JankCoder {
+    DutyCycleEncoder m_encoder;
+
+    boolean loaded_rotations = false;
+    double lastRotation = 0;
+    double offset = 0;
+
+    public JankCoder(int dio_channel) {
+        m_encoder = new DutyCycleEncoder(dio_channel);
+        loadRotations();
+    }
+    public JankCoder(int dio_channel, double _offset) {
+        m_encoder = new DutyCycleEncoder(dio_channel);
+        loadRotations();
+    }
+
+    public void update() {
+        if(!m_encoder.isConnected()) {
+            return;
+        }
+            
+        if(!loaded_rotations) {
+            loadRotations();
+        } else {
+            double curRot = m_encoder.get();
+            if(lastRotation - curRot > 0.5) {
+                offset += 1;
+                saveRotations();
+            } else if (curRot - lastRotation > 0.5) {
+                offset -= 1;
+                saveRotations();
+            }
+
+            lastRotation = curRot;
+        }
+    }
+
+    public double get() {
+        return (double) offset + m_encoder.get();
+    }
+
+    public Angle getRotations() {
+        return Rotations.of(get());
+    }
+    
+    public int getRotationCount() {
+        return (int) offset;
+    }
+    
+    public void resetRotation() {
+        setRotation(0);
+    }
+
+    public void setRotation(double rotation) {
+        offset = rotation - m_encoder.get();
+        saveRotations();
+    }
+
+    private void saveRotations() {
+        try (FileOutputStream stream = new FileOutputStream("/home/lvuser/encoder" + m_encoder.getSourceChannel())) {
+            stream.write(DataUtils.doubleToByteArray(offset));
+        } catch (Exception e) {
+            // e.printStackTrace();
+            System.out.println("ENCODER: Unable to write to trim file `" + m_encoder.getSourceChannel() + "`!?!");
+        }
+    }
+
+    private boolean loadRotations() {
+        lastRotation = m_encoder.get();
+        this.loaded_rotations = true;
+
+        try (FileInputStream stream = new FileInputStream("/home/lvuser/encoder" + m_encoder.getSourceChannel())) {
+            offset = DataUtils.byteArrayToDouble(stream.readNBytes(4));
+            
+            // clampModify();
+            // modified = false;
+
+            // if (fileValue != currentValue) {
+            //     // System.out.println("TRIMS: Loaded trim `" + trimName + "` has a value that is higher than or less than the bounds set for the trim, clamping...");
+            //     // modified = true;
+            // }
+            return true;
+        } catch (Exception e) {
+            // e.printStackTrace();
+            System.out.println("ENCODER: Unable to read encoder `" + m_encoder.getSourceChannel() + "`, using current value...");
+            return false;
+        }
+        
+    }
+}

src/main/java/frc4388/utility/compute/JankCoder.java

@@ -7,6 +7,7 @@ import java.io.FileOutputStream;
 
 import edu.wpi.first.units.measure.Angle;
 import edu.wpi.first.wpilibj.DutyCycleEncoder;
+import frc4388.utility.configurable.ConfigurableDouble;
 
 public class JankCoder {
     DutyCycleEncoder m_encoder;
@@ -14,23 +15,18 @@ public class JankCoder {
     boolean loaded_rotations = false;
     int rotations = 0;
     double lastRotation = 0;
-    final double offset;
+    final ConfigurableDouble offset;
 
-    public JankCoder(int dio_channel) {
+    public JankCoder(int dio_channel, ConfigurableDouble offset) {
-        this.offset = 0;
-        m_encoder = new DutyCycleEncoder(dio_channel);
-        loadRotations();
-    }
-    public JankCoder(int dio_channel, double offset) {
         this.offset = offset;
         m_encoder = new DutyCycleEncoder(dio_channel);
         loadRotations();
     }
 
     public void update() {
-        if(!m_encoder.isConnected()) {
+        // if(!m_encoder.isConnected()) {
-            return;
+        //     return;
-        }
+        // }
             
         if(!loaded_rotations) {
             loadRotations();
@@ -49,7 +45,7 @@ public class JankCoder {
     }
 
     public double get() {
-        return (double) rotations + m_encoder.get() + offset;
+        return (double) rotations + m_encoder.get() + offset.get();
     }
 
     public Angle getRotations() {
@@ -61,6 +57,7 @@ public class JankCoder {
     }
     
     public void resetRotations() {
+        offset.set(-m_encoder.get());
         setRotations(0);
     }
 
@@ -69,7 +66,11 @@ public class JankCoder {
         saveRotations();
     }
 
-    private void saveRotations() {
+    public boolean isConnected() {
+        return m_encoder.isConnected();
+    }
+
+    public void saveRotations() {
         try (FileOutputStream stream = new FileOutputStream("/home/lvuser/encoder" + m_encoder.getSourceChannel())) {
             stream.write(DataUtils.intToByteArray(rotations));
         } catch (Exception e) {
@@ -78,7 +79,7 @@ public class JankCoder {
         }
     }
 
-    private boolean loadRotations() {
+    public boolean loadRotations() {
         lastRotation = m_encoder.get();
         this.loaded_rotations = true;
 

src/main/java/frc4388/utility/configurable/ConfigurableDouble.java

@@ -20,4 +20,8 @@ public class ConfigurableDouble {
     public double get() {
         return SmartDashboard.getNumber(name, defualtValue);
     }
+    
+    public void set(double value) {
+        SmartDashboard.putNumber(name, value);
+    }
 }