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Changed intake to RPM control

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This commit is contained in:
Team2890HawkCollective
2026-02-19 18:01:14 -05:00
parent e98c3834d7
commit a50d67d7f5
1 changed files with 14 additions and 4 deletions
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18
src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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@@ -19,7 +19,7 @@ import com.revrobotics.spark.SparkBase.ControlType;
public class IntakeSubsystem extends SubsystemBase {
private static SparkFlex intakeMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
private static SparkFlex intakeWheelsMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_ID,
MotorType.kBrushless);
private static SparkFlex intakeRotatorMotor = new SparkFlex(Constants.IntakeConstants.INTAKE_ROTATOR_MOTOR_ID,
@@ -27,6 +27,9 @@ public class IntakeSubsystem extends SubsystemBase {
private static SparkClosedLoopController intakeRotatorPIDController;
public static SparkFlexConfig intakeRotatorConfig = new SparkFlexConfig();
private static SparkClosedLoopController intakeWheelsMotorPIDController;
public static SparkFlexConfig intakeWheelsMotorConfig = new SparkFlexConfig();
public IntakeSubsystem() {
intakeRotatorConfig.closedLoop.pid(Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_P,
Constants.IntakeConstants.IntakeRotatorPID.INTAKE_ROTATOR_I,
@@ -34,18 +37,25 @@ public class IntakeSubsystem extends SubsystemBase {
intakeRotatorMotor.configure(intakeRotatorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
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);
intakeWheelsMotor.configure(intakeWheelsMotorConfig, com.revrobotics.ResetMode.kNoResetSafeParameters,
com.revrobotics.PersistMode.kNoPersistParameters);
intakeWheelsMotorPIDController = intakeWheelsMotor.getClosedLoopController();
}
public void startIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM);
intakeWheelsMotorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM, ControlType.kVelocity);
}
public void reverseIntakeMotor() {
intakeMotor.set(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM * -1);
intakeWheelsMotorPIDController.setSetpoint(Constants.IntakeConstants.INTAKE_WHEELS_MOTOR_RPM * -1, ControlType.kVelocity);
}
public void stopIntakeMotor() {
intakeMotor.set(0);
intakeWheelsMotor.set(0);
}
public Command startIntakeMotorCommand() {