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add logic to intake state #44

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Merged
jaymendo670-png merged 5 commits into from
May 31, 2026
Merged

add logic to intake state #44

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bbb53c7
added requirments for state machine
FRCTeam3255-Shared-K1-10 May 30, 2026
3742080
intaking logic
FRCTeam3255-Shared-K1-10 May 30, 2026
8b2d253
intake logic fixes
FRCTeam3255-Shared-K1-10 May 30, 2026
1a254ae
Merge branch 'main' into 35-add-logic-for-state-intaking
FRCTeam3255-Shared-K1-10 May 30, 2026
f658df1
retract intake state
FRCTeam3255-Shared-K1-10 May 31, 2026
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3 changes: 1 addition & 2 deletions src/main/java/frc/robot/commands/states/EjectingHopper.java
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,6 @@
import frc.robot.constants.ConstMotion;
import frc.robot.constants.ConstRotors;
import frc.robot.subsystems.StateMachine;
import frc.robot.*;

/* You should consider using the more terse Command factories API instead https://docs.wpilib.org/en/stable/docs/software/commandbased/organizing-command-based.html#defining-commands */
public class EjectingHopper extends Command
Expand All @@ -27,7 +26,7 @@ public EjectingHopper() {
@Override
public void initialize() {
RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.EJECTING_HOPPER);
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY);
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.REVERSE_SERIALIZER_ROLLERS_SPEED);
RobotContainer.rotorsInstance.setSerializerRollersPercentOutput(ConstRotors.REVERSE_TRANSFER_ROLLERS_SPEED);
RobotContainer.rotorsInstance.setTransferRollersPercentOutput(ConstRotors.REVERSE_INTAKE_ROLLERS_SPEED);
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5 changes: 4 additions & 1 deletion src/main/java/frc/robot/commands/states/Intaking.java
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Expand Up @@ -8,17 +8,20 @@
import frc.robot.RobotContainer;
import frc.robot.constants.ConstMotion;
import frc.robot.constants.ConstRotors;
import frc.robot.subsystems.StateMachine;

public class Intaking extends Command {
/** Creates a new Intaking. */
public Intaking() {
addRequirements(RobotContainer.stateMachineInstance);
}

// Called when the command is initially scheduled.
@Override
public void initialize() {
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_DEPLOY);
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.DEPLOY_INTAKE_PIVOT_ANGLE);
RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.INTAKE_ROLLERS_SPEED);
RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.INTAKING);

}

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2 changes: 1 addition & 1 deletion src/main/java/frc/robot/commands/states/RetractIntake.java
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Expand Up @@ -20,8 +20,8 @@ public RetractIntake() {
// Called when the command is initially scheduled.
@Override
public void initialize() {
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.INTAKE_PIVOT_RETRACT);
RobotContainer.rotorsInstance.setIntakeRollersPercentOutput(ConstRotors.STOP);
RobotContainer.motionInstance.setIntakePivotAngle(ConstMotion.RETRACT_INTAKE_PIVOT_ANGLE);
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RobotContainer.stateMachineInstance.setRobotState(StateMachine.RobotState.RETRACT_INTAKE);
}

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8 changes: 4 additions & 4 deletions src/main/java/frc/robot/constants/ConstMotion.java
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Expand Up @@ -20,8 +20,8 @@
public class ConstMotion {
public static final TalonFXConfiguration INTAKE_PIVOT_CONFIGURATION = new TalonFXConfiguration();
public static final TalonFXConfiguration HOOD_PIVOT_CONFIGURATION = new TalonFXConfiguration();
public static final Angle INTAKE_PIVOT_DEPLOY = Degrees.of(125);
public static final Angle INTAKE_PIVOT_RETRACT = Degrees.of(0);
public static final Angle DEPLOY_INTAKE_PIVOT_ANGLE = Degrees.of(125);
public static final Angle RETRACT_INTAKE_PIVOT_ANGLE = Degrees.of(0);
public static final Angle HOOD_PIVOT_ANGLE = Degrees.of(14);
public static final double STOP = 0;
public static final Angle HOOD_NONE_ANGLE = Degrees.of(0);
Expand All @@ -32,8 +32,8 @@ public class ConstMotion {
INTAKE_PIVOT_CONFIGURATION.MotorOutput.Inverted = InvertedValue.Clockwise_Positive;
INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ReverseSoftLimitEnable = true;
INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ForwardSoftLimitEnable = true;
INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ForwardSoftLimitThreshold = INTAKE_PIVOT_DEPLOY.in(Rotations);
INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ReverseSoftLimitThreshold = INTAKE_PIVOT_RETRACT.in(Rotations);
INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ForwardSoftLimitThreshold = DEPLOY_INTAKE_PIVOT_ANGLE.in(Rotations);
INTAKE_PIVOT_CONFIGURATION.SoftwareLimitSwitch.ReverseSoftLimitThreshold = RETRACT_INTAKE_PIVOT_ANGLE.in(Rotations);
INTAKE_PIVOT_CONFIGURATION.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
INTAKE_PIVOT_CONFIGURATION.Slot0.kS = 0.3;
INTAKE_PIVOT_CONFIGURATION.Slot0.kP = 40;
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