Team4388/2026KPopRobotHunters
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highlanders changes

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This commit is contained in:
Shikhar
2026-04-04 20:41:00 -06:00
parent 74009b86bb
commit f9b9a7dd30
9 changed files with 138 additions and 74 deletions
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src/main/java/frc4388/robot/subsystems/intake/Intake.java
+12 -7
View File
@@ -42,7 +42,8 @@ public class Intake extends SubsystemBase {
Idle,
RectractTorque,
Bouncing,
ExpelBalls
ExpelBalls,
LabubuGrowl
}
private boolean overCompressed = false;
@@ -101,20 +102,20 @@ public class Intake extends SubsystemBase {
public void periodic() {
// FaultReporter.register(this); // TODO Implement fault reporter
// System.out.println(m_armLimitSwitch.get());
ChassisSpeeds chassisSpeeds = m_SwerveDrive.chassisSpeeds;
// ChassisSpeeds chassisSpeeds = m_SwerveDrive.chassisSpeeds;
double ChassisOverallSpeed = Math.hypot(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond);
// double ChassisOverallSpeed = Math.hypot(chassisSpeeds.vxMetersPerSecond, chassisSpeeds.vyMetersPerSecond);
Logger.processInputs("Intake", state);
Logger.recordOutput("Intake/IntakeState", this.mode);
io.updateInputs(state);
overCompressed =
Math.abs(state.armMotorCurrent.in(Amps)) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get();
// Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get();
// overCompressed =
// Math.abs(state.armMotorCurrent.in(Amps)) > IntakeConstants.INTAKE_BOUNCE_CURRENT_LIMIT.get();
// // Math.abs(state.armMotorVelocity.in(RotationsPerSecond)) < IntakeConstants.INTAKE_BOUNCE_VELOCITY_LIMIT.get();
Logger.recordOutput("overCompressed", overCompressed);
// Logger.recordOutput("overCompressed", overCompressed);
// getCurrentTime
@@ -196,6 +197,10 @@ public class Intake extends SubsystemBase {
io.armOutput(0);
io.setRollerOutput(state, IntakeConstants.ROLLER_EJECT_PERCENT_OUTPUT.get());
break;
case LabubuGrowl:
io.armOutput(0);
io.setRollerOutput(state, IntakeConstants.ROLLER_LABUBU_GROWL_PERCENT_OUTPUT.get());
break;
}
// if (state.retractedLimit){
// this.mode = IntakeMode.Retracted;
src/main/java/frc4388/robot/subsystems/intake/IntakeConstants.java
+1
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@@ -63,6 +63,7 @@ public class IntakeConstants {
public static final ConfigurableDouble ARM_REVERSE_ROLLER_RANGE = new ConfigurableDouble("Arm reverse roller range", 1.17);
public static final ConfigurableDouble ROLLER_PERCENT_OUTPUT = new ConfigurableDouble("Roller Percent Output", .50);
public static final ConfigurableDouble ROLLER_LABUBU_GROWL_PERCENT_OUTPUT = new ConfigurableDouble("Roller Labubu Growl Percent Output", .75);
public static final ConfigurableDouble ROLLER_EJECT_PERCENT_OUTPUT = new ConfigurableDouble("Roller eject Percent Output", -.20);
public static final ConfigurableDouble ROLLER_IDLE_PERCENT_OUTPUT = new ConfigurableDouble("Roller IDLE Percent Output", .20);
public static final ConfigurableDouble ROLLER_RETRACT_PERCENT_OUTPUT = new ConfigurableDouble("Roller Retract Output", .40);
src/main/java/frc4388/robot/subsystems/intake/IntakeReal.java
+9 -3
View File
@@ -7,6 +7,8 @@ import static edu.wpi.first.units.Units.RotationsPerSecond;
import com.ctre.phoenix6.hardware.TalonFX;
import com.revrobotics.PersistMode;
import com.revrobotics.ResetMode;
import com.revrobotics.RelativeEncoder;
import com.revrobotics.spark.SparkLimitSwitch;
import com.revrobotics.spark.SparkMax;
import edu.wpi.first.units.measure.Angle;
@@ -15,6 +17,8 @@ import frc4388.utility.compute.JankCoder;
public class IntakeReal implements IntakeIO {
SparkMax m_armMotor;
RelativeEncoder arm_encoder;
SparkLimitSwitch reverse_limit;
TalonFX m_rollerMotor;
JankCoder m_encoder;
@@ -26,6 +30,8 @@ public class IntakeReal implements IntakeIO {
// m_angleMotor = angleMotor;
// m_pitchMotor = pitchMotor;
m_armMotor = armMotor;
arm_encoder = m_armMotor.getEncoder();
reverse_limit = m_armMotor.getReverseLimitSwitch();
m_rollerMotor = rollerMotor;
m_encoder = jankCoder;
@@ -96,8 +102,8 @@ public class IntakeReal implements IntakeIO {
m_encoder.update();
state.armAngle = Rotations.of(m_armMotor.getEncoder().getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorVelocity = RotationsPerSecond.of(m_armMotor.getEncoder().getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armAngle = Rotations.of(arm_encoder.getPosition()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
state.armMotorVelocity = RotationsPerSecond.of(arm_encoder.getVelocity()).div(IntakeConstants.ARM_MOTOR_GEAR_RATIO);
// state.armMotorAcceleration = RotationsPerSecondPerSecond.of(m_armMotor.getEncoder().ge);
state.armMotorCurrent = Amps.of(m_armMotor.getOutputCurrent());
@@ -110,7 +116,7 @@ public class IntakeReal implements IntakeIO {
state.intakeEncoder = m_encoder.getRotations();
state.encoderConnected = m_encoder.isConnected();
state.retractedLimitSwitch = m_armMotor.getReverseLimitSwitch().isPressed();
state.retractedLimitSwitch = reverse_limit.isPressed();
if(state.retractedLimitSwitch) {
m_encoder.resetRotations();