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Intake changes #69

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merged 5 commits into from
Jun 13, 2024
Merged

Intake changes #69

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8bc791e
All the final intake changes
DriverStationComputer May 24, 2024
3bfe7b7
Merge branch 'master' into Final-Intake-+-Post-Ralston-Changes
BrandonS09 May 24, 2024
ea1c79d
Merge branch 'master' into Final-Intake-+-Post-Ralston-Changes
BrandonS09 Jun 13, 2024
fb1a8ab
Fixed Spelling, commented out some smartdashboard stuff, and removed …
BrandonS09 Jun 13, 2024
4633049
commented out more smart dashboard stuff
BrandonS09 Jun 13, 2024
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2 changes: 1 addition & 1 deletion .DataLogTool/datalogtool.json
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
{
"download": {
"localDir": "C:\\Users\\Deep Blue\\Downloads",
"serverTeam": "199"
"serverTeam": "10.1.99.2"
}
}
6 changes: 3 additions & 3 deletions src/main/java/org/carlmontrobotics/commands/IntakeNEO.java
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Expand Up @@ -29,7 +29,7 @@ public void initialize() {
// if (intake.intakeDetectsNote()) {
// return;
// }
intake.motorSetIntake(SmartDashboard.getNumber("Intake RPM", speed));
intake.motorSetIntake(.5);
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intake.resetCurrentLimit();
index=0;
Expand All @@ -39,10 +39,10 @@ public void initialize() {
// 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();
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intake.motorSetIntake(.1);
} else {
timer.stop();
timer.reset();
Expand All @@ -63,6 +63,6 @@ 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();
}
}
7 changes: 2 additions & 5 deletions src/main/java/org/carlmontrobotics/subsystems/IntakeShooter.java
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Expand Up @@ -27,7 +27,7 @@ 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(OUTAKE_PORT, MotorType.kBrushless);
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private final RelativeEncoder outtakeEncoder = outtakeMotorVortex.getEncoder();
private final RelativeEncoder intakeEncoder = intakeMotor.getEncoder();
private final SparkPIDController pidControllerOutake = outtakeMotorVortex.getPIDController();
Expand Down Expand Up @@ -72,6 +72,7 @@ public IntakeShooter() {
outtakeDistanceSensor.setRangingMode(RangingMode.Short, 24);
outtakeMotorVortex.setSmartCurrentLimit(60);
SmartDashboard.putNumber("Intake target RPM", 0);
SmartDashboard.putNumber("Vortex volts", 0);
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}

public boolean intakeIsOverTemp() {
Expand Down Expand Up @@ -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());
Expand Down
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