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Added all 4 cameras

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This commit is contained in:
Team2890HawkCollective
2026-02-20 17:27:40 -05:00
parent 178359341c 44245a11e5
commit 0ee008f525
4 changed files with 60 additions and 9 deletions
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30
src/main/java/frc/robot/Constants.java
View File

@@ -98,6 +98,11 @@ public final class Constants {
}
public static class IntakeConstants {
private static GenericEntry intakeSpeed = programmingTab.add("Desired Intake Speed", -0.65)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_SPEED;
private static GenericEntry intakeRPM = programmingTab.add("Desired Intake RPM", -1000)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
public static double INTAKE_WHEELS_MOTOR_RPM;
@@ -108,20 +113,31 @@ public final class Constants {
public static final int INTAKE_WHEELS_MOTOR_ID = 50;
public static final int INTAKE_ROTATOR_MOTOR_ID = 51;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 0.01;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0;
}
public static final double INTAKE_COLLECT_ENCODER_VALUE = 4.1290459632873535;
public static final double INTAKE_MIDDLE_ENCODER_VALUE = 1.2550222873687744;
public static final double INTAKE_RETRACT_ENCODER_VALUE = 0;
public static class IntakeRotatorPID {
public static final double INTAKE_ROTATOR_P = 0.05;
public static final double INTAKE_ROTATOR_I = 0;
public static final double INTAKE_ROTATOR_D = 0.001;
}
}
public static class RampConstants {
public static final int RAMP_MOTOR_ID = 45;
// create object and a new widget under programming tab in Elastic where object
// retrieves value from widget
private static GenericEntry rampSpeed = programmingTab.add("Desired Ramp Speed", 0.4)
.withWidget(BuiltInWidgets.kNumberBar).getEntry();
// this method called in robot periodic so values updated in elastic are
// constantly read and applied to RAMP_MOTOR_SPEED
public static void getRampMotorSpeed() {
RAMP_MOTOR_SPEED = rampSpeed.getDouble(0.4);
}
public static double RAMP_MOTOR_SPEED = .6;
// create object and a new widget under programming tab in Elastic where object

1
src/main/java/frc/robot/RobotContainer.java
View File

@@ -300,5 +300,4 @@ public class RobotContainer {
// m_ShooterSubsystem.moveActuatorCommand(Constants.ShooterConstants.DESIRED_POTENTIOMETER_DISTANCE),
m_ShooterSubsystem.shootFuelCommand(),
m_IntakeSubsystem.assistFuelIntakeCommand().repeatedly());
}

2
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
View File

@@ -80,7 +80,7 @@ public class IntakeSubsystem extends SubsystemBase {
}
public void retractIntake() {
intakeRotatorPIDController.setSetpoint(0, ControlType.kPosition);
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_RETRACT_ENCODER_VALUE, ControlType.kPosition);
}
public Command retractIntakeCommand() {

36
vendordeps/REVLib.json
View File

@@ -1,7 +1,11 @@
{
"fileName": "REVLib.json",
"name": "REVLib",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"frcYear": "2026",
"uuid": "3f48eb8c-50fe-43a6-9cb7-44c86353c4cb",
"mavenUrls": [
@@ -12,14 +16,22 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-java",
<<<<<<< HEAD
"version": "2026.0.1"
=======
"version": "2026.0.2"
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
}
],
"jniDependencies": [
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
@@ -34,7 +46,11 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
@@ -49,7 +65,11 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"skipInvalidPlatforms": true,
"isJar": false,
"validPlatforms": [
@@ -66,7 +86,11 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-cpp",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"libName": "REVLib",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -83,7 +107,11 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "REVLib-driver",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"libName": "REVLibDriver",
"headerClassifier": "headers",
"sharedLibrary": false,
@@ -100,7 +128,11 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibBackendDriver",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"libName": "BackendDriver",
"sharedLibrary": true,
"skipInvalidPlatforms": true,
@@ -116,7 +148,11 @@
{
"groupId": "com.revrobotics.frc",
"artifactId": "RevLibWpiBackendDriver",
<<<<<<< HEAD
"version": "2026.0.1",
=======
"version": "2026.0.2",
>>>>>>> a50d67d7f53337b144e2b1afb5f7b644747fb21f
"libName": "REVLibWpi",
"sharedLibrary": true,
"skipInvalidPlatforms": true,