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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
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@@ -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
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@@ -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
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@@ -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() {