Team4388/2026KPopRobotHunters
1
0
Fork 0
mirror of https://github.com/Team4388/2026KPopRobotHunters.git synced 2026-06-09 00:38:03 -06:00
Code Issues Packages Projects Releases Wiki Activity

highlanders changes

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
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;