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fixed intake and indexer along with their RPM updates from elastic

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This commit is contained in:
Team2890HawkCollective
2026-02-21 09:23:04 -05:00
parent a5db6ce778
commit 26ef775088
4 changed files with 22 additions and 39 deletions
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8
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@@ -38,9 +38,9 @@ public class IntakeSubsystem extends SubsystemBase {
com.revrobotics.PersistMode.kNoPersistParameters);
intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
intakeWheelsMotorConfig.closedLoop.pid(Constants.ShooterConstants.SHOOTER_MOTOR_P,
Constants.ShooterConstants.SHOOTER_MOTOR_I,
Constants.ShooterConstants.SHOOTER_MOTOR_D);
intakeWheelsMotorConfig.closedLoop.pid(Constants.IntakeConstants.INTAKE_MOTOR_P,
Constants.IntakeConstants.INTAKE_MOTOR_I,
Constants.IntakeConstants.INTAKE_MOTOR_D);
intakeWheelsMotor.configure(intakeWheelsMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeWheelsMotorPIDController = intakeWheelsMotor.getClosedLoopController();
@@ -55,7 +55,7 @@ public class IntakeSubsystem extends SubsystemBase {
}
public void stopIntakeMotor() {
intakeWheelsMotorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM * -1, ControlType.kVelocity);
intakeWheelsMotor.set(0);
}
public Command startIntakeMotorCommand() {