Team_2648/2024_Robot_Code
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feedforward calculates on current velocity

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Tyler-J42 2024-02-03 02:17:15 -05:00
parent a60b0fd424
commit 236ee989ff
1 changed files with 3 additions and 3 deletions
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6
src/main/java/frc/robot/subsystems/Intake.java
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@ -36,18 +36,18 @@ public class Intake extends SubsystemBase{
public void intakeDown(){
intakeRoller.set(1.0);
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, 0.0));
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
}
public void climbingState(){
intakeRoller.set(0.0);
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, 0.0));
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
}
public void intakeUp(){
intakeRoller.set(0.0);
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kUpAngle) + intakeFeedForward.calculate(IntakeConstants.kUpAngle, 0.0));
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kUpAngle) + intakeFeedForward.calculate(IntakeConstants.kUpAngle, intakeEncoder.getVelocity()));
}
}