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/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();