Team_2648/2026-Robot-Code
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Work from build 2/28

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This commit is contained in:
Bradley Bickford
2026-02-28 17:42:37 -05:00
parent 7621cfd009
commit 3791333f56
12 changed files with 101 additions and 136 deletions
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20
src/main/java/frc/robot/subsystems/IntakeRoller.java
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@@ -10,41 +10,33 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IntakeRollerConstants;
public class IntakeRoller extends SubsystemBase {
private SparkMax leftMotor;
private SparkMax rightMotor;
private SparkMax motor;
public IntakeRoller() {
leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
motor = new SparkMax(IntakeRollerConstants.kMotorCANID, MotorType.kBrushless);
leftMotor.configure(
motor.configure(
IntakeRollerConstants.leftMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
rightMotor.configure(
IntakeRollerConstants.rightMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
}
public Command runIn() {
return run(() -> {
leftMotor.set(1);
motor.set(IntakeRollerConstants.kSpeed);
});
}
public Command runOut() {
return run(() -> {
leftMotor.set(-1);
motor.set(-IntakeRollerConstants.kSpeed);
});
}
public Command stop() {
return run(() -> {
leftMotor.set(0);
motor.set(0);
});
}