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/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;
}