Team4388/2026KPopRobotHunters
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limit switch through robot map

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This commit is contained in:
SHikhar
2026-02-14 15:57:33 -07:00
parent 7f251857dc
commit f88619a1da
7 changed files with 26 additions and 20 deletions
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src/main/java/frc4388/robot/RobotContainer.java
+2 -2
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@@ -59,14 +59,14 @@ public class RobotContainer {
public final RobotMap m_robotMap = new RobotMap(Mode.REAL);
/*Limit Switch */
public final DigitalInput m_armLimitSwitch = new DigitalInput(9);
// public final DigitalInput m_armLimitSwitch = new DigitalInput(9);
/* Subsystems */
public final LED m_robotLED = new LED(Constants.LEDConstants.LED_SPARK_ID);
//Testing of Colors
public final Vision m_vision = new Vision();
public final SwerveDrive m_robotSwerveDrive = new SwerveDrive(m_robotMap.swerveDrivetrain, m_vision);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO, m_armLimitSwitch);
public final Intake m_robotIntake = new Intake(m_robotMap.intakeIO);
public final Shooter m_robotShooter = new Shooter(m_robotMap.shooterIO, m_robotSwerveDrive, m_robotIntake, m_robotLED);
src/main/java/frc4388/robot/RobotMap.java
+3 -2
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@@ -12,6 +12,7 @@ import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.hardware.CANcoder;
import com.ctre.phoenix6.swerve.SwerveDrivetrain;
import edu.wpi.first.wpilibj.DigitalInput;
import frc4388.robot.constants.Constants;
//import frc4388.robot.constants.Constants.ElevatorConstants;
import frc4388.robot.constants.Constants.SimConstants;
@@ -91,7 +92,7 @@ public class RobotMap {
//Configure Intake 20,21
TalonFX arm = new TalonFX(IntakeConstants.ARM_ID.id, Constants.CANIVORE_CANBUS);
TalonFX roller = new TalonFX(IntakeConstants.ROLLER_ID.id, Constants.CANIVORE_CANBUS);
DigitalInput armLimitSwitch = new DigitalInput(IntakeConstants.ARM_LIMIT_SWITCH_CHANNEL);
// DigitalInput basinLimitSwitch = new DigitalInput(ElevatorConstants.BASIN_LIMIT_SWITCH);
// DigitalInput endeffectorLimitSwitch = new DigitalInput(ElevatorConstants.ENDEFFECTOR_LIMIT_SWITCH);
// DigitalInput IRIntakeBeam = new DigitalInput(ElevatorConstants.INTAKE_LIMIT_SWITCH);
@@ -100,7 +101,7 @@ public class RobotMap {
// shooterIO = new ShooterIO() {};
shooterIO = new ShooterReal(shooter1, shooter2, indexer);
intakeIO = new IntakeReal(arm, roller);
intakeIO = new IntakeReal(armLimitSwitch, arm, roller);
// Fault
FaultPidgeon2.addDevice(swerveDrivetrainReal.getPigeon2(), "Gyro");
src/main/java/frc4388/robot/constants/BuildConstants.java
+6 -6
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@@ -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 = 52;
public static final String GIT_SHA = "736d7ef8233e918aa0cc1cc3f06f2069517bed59";
public static final String GIT_DATE = "2026-02-14 13:49:33 MST";
public static final String GIT_BRANCH = "shoot-button";
public static final String BUILD_DATE = "2026-02-14 14:55:59 MST";
public static final long BUILD_UNIX_TIME = 1771106159811L;
public static final int GIT_REVISION = 59;
public static final String GIT_SHA = "7f251857dc4fc6f925d5900e9822f20c8841fa1d";
public static final String GIT_DATE = "2026-02-14 15:05:25 MST";
public static final String GIT_BRANCH = "operator-controls";
public static final String BUILD_DATE = "2026-02-14 15:56:10 MST";
public static final long BUILD_UNIX_TIME = 1771109770332L;
public static final int DIRTY = 1;
private BuildConstants(){}
src/main/java/frc4388/robot/subsystems/intake/Intake.java
+7 -7
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@@ -16,15 +16,12 @@ public class Intake extends SubsystemBase {
IntakeStateAutoLogged state = new IntakeStateAutoLogged();
Supplier<Pose2d> m_swervePoseSupplier;
public DigitalInput m_armLimitSwitch;
public Intake(
IntakeIO io,
DigitalInput m_armLimitSwitch
IntakeIO io
// Supplier<Pose2d> swervePoseSupplier
) {
this.io = io;
this.m_armLimitSwitch= m_armLimitSwitch;
// this.m_swervePoseSupplier = swervePoseSupplier;
}
@@ -76,8 +73,7 @@ public class Intake extends SubsystemBase {
io.setRollerVelocity(state, RotationsPerSecond.of(IntakeConstants.ROLLER_ACTIVE.get()));
break;
case Retracted:
if (!m_armLimitSwitch.get()){
System.out.println("Triggered!");
if (!state.retractedLimit){
io.stopArm();
} else {
io.setArmAngle(state, Rotations.of(IntakeConstants.ARM_LIMIT_RETRACTED.get()));
@@ -88,7 +84,11 @@ public class Intake extends SubsystemBase {
io.armExtend(IntakeConstants.ARM_EXTEND_PERCENT_OUTPUT.get());
break;
case Retracting:
io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
if (!state.retractedLimit){
io.stopArm();
} else {
io.armRetract(IntakeConstants.ARM_RETRACT_PERCENT_OUTPUT.get());
}
break;
}
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1
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@@ -21,6 +21,7 @@ public class IntakeConstants {
public static final CanDevice ARM_ID = new CanDevice("ARM", 20);
public static final CanDevice ROLLER_ID = new CanDevice("INTAKE_ROLLER", 21);
public static final int ARM_LIMIT_SWITCH_CHANNEL = 9;
// Limits
src/main/java/frc4388/robot/subsystems/intake/IntakeIO.java
+1
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@@ -13,6 +13,7 @@ import edu.wpi.first.units.measure.Current;
public interface IntakeIO {
@AutoLog
public class IntakeState {
boolean retractedLimit = false;
Angle armAngle = Rotations.of(0);
Angle armTargetAngle = Rotations.of(0);
Current armMotorCurrent = Amps.of(0);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+6 -3
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@@ -5,18 +5,20 @@ import com.ctre.phoenix6.controls.VelocityDutyCycle;
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.units.measure.*;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DigitalOutput;
public class IntakeReal implements IntakeIO {
TalonFX m_armMotor;
TalonFX m_rollerMotor;
DigitalInput m_armLimitSwitch;
PositionDutyCycle armPosition = new PositionDutyCycle(0);
VelocityDutyCycle rollerVelocity = new VelocityDutyCycle(0);
public IntakeReal(
DigitalInput armLimitSwitch,
TalonFX armMotor,
TalonFX rollerMotor
) {
@@ -24,6 +26,7 @@ public class IntakeReal implements IntakeIO {
// m_pitchMotor = pitchMotor;
m_armMotor = armMotor;
m_rollerMotor = rollerMotor;
m_armLimitSwitch = armLimitSwitch;
// Apply the configs
m_armMotor.getConfigurator().apply(IntakeConstants.ARM_PID);
@@ -96,7 +99,7 @@ public class IntakeReal implements IntakeIO {
public void updateInputs(IntakeState state) {
state.armAngle = m_armMotor.getPosition().getValue().div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorCurrent = m_armMotor.getStatorCurrent().getValue();
state.retractedLimit = m_armLimitSwitch.get();
state.rollerVelocity = m_rollerMotor.getVelocity().getValue().div(IntakeConstants.ROLLER_MOTOR_GEAR_RATIO);
state.rollerMotorCurrent = m_rollerMotor.getStatorCurrent().getValue();
}