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

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Shatcar
2026-03-31 19:34:45 -06:00
parent 6f55f745ef dd5dba5c0f
commit e7557830b5
5 changed files with 307 additions and 3 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+17
View File
@@ -37,6 +37,7 @@ public class Intake extends SubsystemBase {
Retracting,
Idle,
RectractTorque,
Bouncing
}
@@ -85,6 +86,8 @@ public class Intake extends SubsystemBase {
// return FieldZone.InShootZone;
// }
@Override
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
@@ -94,6 +97,7 @@ public class Intake extends SubsystemBase {
Logger.processInputs("Intake", state);
Logger.recordOutput("Intake/IntakeState", this.mode);
io.updateInputs(state);
// getCurrentTime
@@ -154,6 +158,19 @@ public class Intake extends SubsystemBase {
io.setRollerOutput(state, 0);
}
break;
case RectractTorque:
io.setRollerOutput(state, IntakeConstants.ROLLER_RETRACT_PERCENT_OUTPUT.get());
if (state.armMotorCurrent.in(Amps) < IntakeConstants.INTAKE_SQUEEZE_CURRENT_LIMIT.get()){
io.armOutput(IntakeConstants.ARM_SQUEEZE_PERCENT_OUTPUT.get());
} 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);
}
break;
case Idle:
io.armOutput(0);
io.setRollerOutput(state, 0);
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+5
View File
@@ -25,6 +25,11 @@ public class IntakeConstants {
public static final ConfigurableDouble INTAKE_BOUNCE_VELOCITY_LIMIT = new ConfigurableDouble("Intake Bounce Velocity Limit", 4);
//squeeze constants
public static final ConfigurableDouble INTAKE_SQUEEZE_CURRENT_LIMIT = new ConfigurableDouble("Intake Squeeze Current Limit", 20);
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 squeeze % output", -0.02);
//IDs