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Adding potential fix to arm

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This commit is contained in:
Michael Mikovsky
2026-02-27 20:19:01 -08:00
parent afdb07ca05
commit f15a26aaef
2 changed files with 51 additions and 6 deletions
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src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+8 -1
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@@ -6,9 +6,10 @@ import static edu.wpi.first.units.Units.RotationsPerSecond;
import org.littletonrobotics.junction.AutoLog;
import edu.wpi.first.units.measure.Acceleration;
import edu.wpi.first.units.measure.Angle;
import edu.wpi.first.units.measure.AngularVelocity;
import edu.wpi.first.units.measure.Current;
import edu.wpi.first.units.measure.Velocity;
public interface IntakeIO {
@AutoLog
@@ -18,6 +19,11 @@ public interface IntakeIO {
Angle armTargetAngle = Rotations.of(0);
Current armMotorCurrent = Amps.of(0);
@SuppressWarnings("rawtypes")
Velocity armMotorVelocity;
@SuppressWarnings("rawtypes")
Acceleration armMotorAcceleration;
// Angle shooterPitch = Rotations.of(0);
// Angle shooterTargetPitch = Rotations.of(0);
// Current pitchMotorCurrent = Amps.of(0);
@@ -34,6 +40,7 @@ public interface IntakeIO {
// public default void setShooterAngle(ShooterState state, Angle angle) {}
// public default void setShooterPitch(ShooterState state, Angle angle) {}
public default void setArmAngle(IntakeState state, Angle angle) {}
public default void testSetArmAgle(IntakeState state, Angle angle){}
public default void stopArm() {}
public default void setRollerOutput(IntakeState state, double rollerOutput) {}
public default void armOutput(double percentOutput) {}