Team_2648/2024_Robot_Code
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Fixing indentation and formatting

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This commit is contained in:
Bradley Bickford 2024-02-03 13:33:39 -05:00
parent 236ee989ff
commit b7a3e3d2f8
1 changed files with 45 additions and 9 deletions
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54
src/main/java/frc/robot/subsystems/Intake.java
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@ -7,15 +7,20 @@ import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.math.controller.ArmFeedforward;
import edu.wpi.first.math.controller.PIDController;
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IntakeConstants;
public class Intake extends SubsystemBase{
private PIDController intakeAnglePID;
private CANSparkMax intakeRoller;
private CANSparkMax intakePivot;
private RelativeEncoder intakeEncoder;
private ArmFeedforward intakeFeedForward;
public Intake(){
intakeRoller = new CANSparkMax(IntakeConstants.kIntakeRollerID, MotorType.kBrushless);
@ -29,25 +34,56 @@ public class Intake extends SubsystemBase{
intakeEncoder = intakePivot.getEncoder();
intakeEncoder.setPosition(IntakeConstants.kStartingAngle);
intakeEncoder.setPositionConversionFactor(IntakeConstants.kIntakePivotConversionFactor);
intakeAnglePID = new PIDController(IntakeConstants.kPIntake, IntakeConstants.kIIntake, IntakeConstants.kDIntake);
}
public void intakeDown(){
intakeRoller.set(1.0);
public Command intakeDownCommand() {
return run(() -> {
intakeRoller.set(1.0);
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
intakePivot.setVoltage(
intakeAnglePID.calculate(
intakeEncoder.getPosition(),
IntakeConstants.kDownAngle
) + intakeFeedForward.calculate(
IntakeConstants.kDownAngle,
intakeEncoder.getVelocity()
)
);
});
}
public void climbingState(){
intakeRoller.set(0.0);
public Command climbingStateCommand() {
return run(() -> {
intakeRoller.set(0.0);
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kDownAngle) + intakeFeedForward.calculate(IntakeConstants.kDownAngle, intakeEncoder.getVelocity()));
intakePivot.setVoltage(
intakeAnglePID.calculate(
intakeEncoder.getPosition(),
IntakeConstants.kDownAngle
) + intakeFeedForward.calculate(
IntakeConstants.kDownAngle,
intakeEncoder.getVelocity()
)
);
});
}
public void intakeUp(){
intakeRoller.set(0.0);
public Command intakeUpCommand() {
return run(() -> {
intakeRoller.set(0.0);
intakePivot.setVoltage(intakeAnglePID.calculate(intakeEncoder.getPosition(), IntakeConstants.kUpAngle) + intakeFeedForward.calculate(IntakeConstants.kUpAngle, intakeEncoder.getVelocity()));
intakePivot.setVoltage(
intakeAnglePID.calculate(
intakeEncoder.getPosition(),
IntakeConstants.kUpAngle
) + intakeFeedForward.calculate(
IntakeConstants.kUpAngle,
intakeEncoder.getVelocity()
)
);
});
}
}