Intake changes

.DataLogTool/datalogtool.json

@@ -1,6 +1,6 @@
 {
   "download": {
     "localDir": "C:\\Users\\Deep Blue\\Downloads",
-    "serverTeam": "199"
+    "serverTeam": "10.1.99.2"
   }
 }

src/main/java/org/carlmontrobotics/Constants.java

@@ -59,7 +59,7 @@ public static final class Effectorc {
 		public static final double[] kV = { 0.122, 0/* 0.065239, 0.077913 */ };
 		public static final double[] kA = { 0, 0/* 0.0062809,0.05289 */ };
 		public static final int INTAKE_PORT = 9; // port
-		public static final int OUTAKE_PORT = 10; // port
+		public static final int OUTTAKE_PORT = 10; // port
 		public static final int INTAKE_DISTANCE_SENSOR_PORT = 11; // port
 		public static final int OUTAKE_DISTANCE_SENSOR_PORT = 10; // port
 		public static final double DISTANCE_BETWEEN_SENSORS_INCHES = 8.189; // inches

src/main/java/org/carlmontrobotics/commands/IntakeNEO.java

@@ -10,51 +10,37 @@
 
 public class IntakeNEO extends Command {
   // intake until sees game peice or 4sec has passed
-  private Timer timer = new Timer();
   private final IntakeShooter intake;
-  double increaseAmount = 0.05;
-  int index = 0;
-  public int speed;
 
   public IntakeNEO(IntakeShooter intake) {
     addRequirements(this.intake = intake);
-    SmartDashboard.putNumber("Intake RPM", speed);
-
   }
 
   @Override
   public void initialize() {
-    //TODO: Adjust speed or add in an index
-    timer.reset();
+    // TODO: Adjust speed or add in an index;
     // if (intake.intakeDetectsNote()) {
     // return;
     // }
-    intake.motorSetIntake(SmartDashboard.getNumber("Intake RPM", speed));
+    intake.motorSetIntake(.5); // Fast intake speed for initial intake
 
     intake.resetCurrentLimit();
-    index=0; 
 
   }
 
   // Called every time the scheduler runs while the command is scheduled.
   @Override
   public void execute() {
-    intake.motorSetIntake(SmartDashboard.getNumber("Intake RPM", speed));
     // Intake Led
     if((intake.intakeDetectsNote())) {
-      timer.start();
-    } else {
-      timer.stop();
-      timer.reset();
+      intake.motorSetIntake(.1); // Slower intake speed triggered after intake ds sees note
     }
   }
 
   // Called once the command ends or is interrupted.
   @Override
   public void end(boolean interrupted) {
     intake.stopIntake();
-    timer.stop();
-    index = 0;
     //intake.resetCurrentLimit();
   }
 
@@ -63,6 +49,6 @@ public void end(boolean interrupted) {
   public boolean isFinished() {
     // return intake.intakeDetectsNote() && timer.get()>0.1;
     // || //timer.hasElapsed(MAX_SECONDS_OVERLOAD);
-    return intake.intakeDetectsNote();
+    return intake.outtakeDetectsNote();
   }
 }

src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java

@@ -27,7 +27,8 @@ public class IntakeShooter extends SubsystemBase {
     private final CANSparkMax intakeMotor = MotorControllerFactory.createSparkMax(INTAKE_PORT, MotorConfig.NEO);
     // private final CANSparkMax outakeMotor =
     // MotorControllerFactory.createSparkMax(10, MotorConfig.NEO_550);
-    private final CANSparkFlex outtakeMotorVortex = new CANSparkFlex(10, MotorType.kBrushless);
+    private final CANSparkFlex outtakeMotorVortex =
+            new CANSparkFlex(OUTTAKE_PORT, MotorType.kBrushless);
     private final RelativeEncoder outtakeEncoder = outtakeMotorVortex.getEncoder();
     private final RelativeEncoder intakeEncoder = intakeMotor.getEncoder();
     private final SparkPIDController pidControllerOutake = outtakeMotorVortex.getPIDController();
@@ -36,7 +37,6 @@ public class IntakeShooter extends SubsystemBase {
     private Timer intakeTOFTimer = new Timer();
     private Timer outtakeTOFTimer = new Timer();
     private int count = 0;
-    private StringLogEntry tofLogEntry;
     private SimpleMotorFeedforward intakeFeedforward = new SimpleMotorFeedforward(kS[INTAKE], kV[INTAKE],
             kA[INTAKE]);
     private final SimpleMotorFeedforward outtakeFeedforward = new SimpleMotorFeedforward(kS[OUTTAKE], kV[OUTTAKE],
@@ -61,8 +61,8 @@ public IntakeShooter() {
         pidControllerIntake.setI(kI[INTAKE]);
         pidControllerIntake.setD(kD[INTAKE]);
         SmartDashboard.putData("Intake Shooter", this);
-        SmartDashboard.putNumber("Intake Ks", kS[INTAKE]);
-        SmartDashboard.putNumber("Intake Kv", kV[INTAKE]);
+        // SmartDashboard.putNumber("Intake Ks", kS[INTAKE]);
+        // SmartDashboard.putNumber("Intake Kv", kV[INTAKE]);
         intakeEncoder.setAverageDepth(4);
         intakeEncoder.setMeasurementPeriod(8);
         // SmartDashboard.putNumber("intake volts", 0);
@@ -71,7 +71,8 @@ public IntakeShooter() {
         intakeDistanceSensor.setRangingMode(RangingMode.Short, 24);// 24 ms is the minimum sample time acc to docs
         outtakeDistanceSensor.setRangingMode(RangingMode.Short, 24);
         outtakeMotorVortex.setSmartCurrentLimit(60);
-        SmartDashboard.putNumber("Intake target RPM", 0);
+        // SmartDashboard.putNumber("Intake target RPM", 0);
+        // SmartDashboard.putNumber("Vortex volts", 0);
     }
 
     public boolean intakeIsOverTemp() {
@@ -141,12 +142,12 @@ public void updateValues() {
     @Override
     public void periodic() {
         updateValues();
-        double newKS = SmartDashboard.getNumber("Intake Ks", kS[INTAKE]);
-        double newKV = SmartDashboard.getNumber("Intake Kv", kV[INTAKE]);
+        // double newKS = SmartDashboard.getNumber("Intake Ks", kS[INTAKE]);
+        /// double newKV = SmartDashboard.getNumber("Intake Kv", kV[INTAKE]);
 
-        if (newKS != intakeFeedforward.ks || newKV != intakeFeedforward.kv) {
-            intakeFeedforward = new SimpleMotorFeedforward(newKS, newKV);
-        }
+        // if (newKS != intakeFeedforward.ks || newKV != intakeFeedforward.kv) {
+        // intakeFeedforward = new SimpleMotorFeedforward(newKS, newKV);
+        // }
         SmartDashboard.putBoolean("instake ds sees", intakeDetectsNote());
         SmartDashboard.putBoolean("outtake ds sees", outtakeDetectsNote());
         SmartDashboard.putNumber("intake sample rate", intakeDistanceSensor.getSampleTime());
@@ -174,10 +175,6 @@ else if (rangingModeOuttake == TimeOfFlight.RangingMode.Medium)
         // outakeMotor.set(SmartDashboard.getNumber("intake volts", 0));
 
         // count++;
-
-        // double volts = SmartDashboard.getNumber("Vortex volts", 0);
-        // outakeMotorVortex.set(volts);
-
         // setMaxOutake();
 
         SmartDashboard.putNumber("Intake amps", intakeMotor.getOutputCurrent());