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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/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();
}