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fixed intake ramp, shooter, and drive PID

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This commit is contained in:
Mehooliu
2026-02-21 17:26:10 -05:00
parent a8f351854f
commit 3d7601387a
15 changed files with 382 additions and 292 deletions
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18
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@@ -31,9 +31,14 @@ public class IntakeSubsystem extends SubsystemBase {
public static SparkFlexConfig intakeWheelsMotorConfig = new SparkFlexConfig();
public IntakeSubsystem() {
intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D);
intakeRotatorConfig.closedLoop
.p(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P)
.i(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I)
.d(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_D)
.p(.06, ClosedLoopSlot.kSlot1)
.i(0, ClosedLoopSlot.kSlot1)
.d(0, ClosedLoopSlot.kSlot1);
intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeRotatorPIDController = intakeRotatorMotor.getClosedLoopController();
@@ -43,7 +48,7 @@ public class IntakeSubsystem extends SubsystemBase {
Constants.IntakeConstants.INTAKE_MOTOR_D);
intakeWheelsMotor.configure(intakeWheelsMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeWheelsMotorPIDController = intakeWheelsMotor.getClosedLoopController();
intakeWheelsMotorPIDController = intakeWheelsMotor.getClosedLoopController();
}
public void startIntakeMotor() {
@@ -71,8 +76,7 @@ public class IntakeSubsystem extends SubsystemBase {
}
public void deployIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE,
ControlType.kPosition);
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_COLLECT_ENCODER_VALUE, ControlType.kPosition, ClosedLoopSlot.kSlot0);
}
public Command deployintakeCommand() {
@@ -80,7 +84,7 @@ public class IntakeSubsystem extends SubsystemBase {
}
public void retractIntake() {
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_RETRACT_ENCODER_VALUE, ControlType.kPosition);
intakeRotatorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_RETRACT_ENCODER_VALUE, ControlType.kPosition, ClosedLoopSlot.kSlot1);
}
public Command retractIntakeCommand() {