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second intake motor

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This commit is contained in:
Tylr-J42
2026-03-14 09:46:49 -04:00
parent 5e1eadf887
commit 72a07b3d7a
2 changed files with 25 additions and 9 deletions
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14
src/main/java/frc/robot/constants/IntakeRollerConstants.java
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@@ -5,11 +5,13 @@ import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
public class IntakeRollerConstants { public class IntakeRollerConstants {
// TODO Real values // TODO Real values
public static final int kMotorCANID = 20; public static final int kRightMotorCANID = 20;
public static final int kLeftMotorCANID = 1;
public static final int kCurrentLimit = 65; public static final int kCurrentLimit = 65;
public static final boolean kInvertMotors = true; public static final boolean kInvertLeftMotor = true;
public static final boolean kInvertRightMotor = false;
public static final double kSpeed = 1; public static final double kSpeed = 1;
@@ -18,11 +20,17 @@ public class IntakeRollerConstants {
// YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM // YOU SHOULDN'T NEED TO CHANGE ANYTHING BELOW THIS LINE UNLESS YOU'RE ADDING A CONFIGURATION ITEM
public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig(); public static final SparkMaxConfig leftMotorConfig = new SparkMaxConfig();
public static final SparkMaxConfig rightMotorConfig = new SparkMaxConfig();
static { static {
leftMotorConfig leftMotorConfig
.idleMode(kIdleMode) .idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit) .smartCurrentLimit(kCurrentLimit)
.inverted(kInvertMotors); .inverted(kInvertLeftMotor);
rightMotorConfig
.idleMode(kIdleMode)
.smartCurrentLimit(kCurrentLimit)
.inverted(kInvertRightMotor)
.follow(kRightMotorCANID);
} }
} }

20
src/main/java/frc/robot/subsystems/IntakeRoller.java
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@@ -10,33 +10,41 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase;
import frc.robot.constants.IntakeRollerConstants; import frc.robot.constants.IntakeRollerConstants;
public class IntakeRoller extends SubsystemBase { public class IntakeRoller extends SubsystemBase {
private SparkMax motor; private SparkMax leftMotor;
private SparkMax rightMotor;
public IntakeRoller() { public IntakeRoller() {
motor = new SparkMax(IntakeRollerConstants.kMotorCANID, MotorType.kBrushless); leftMotor = new SparkMax(IntakeRollerConstants.kLeftMotorCANID, MotorType.kBrushless);
rightMotor = new SparkMax(IntakeRollerConstants.kRightMotorCANID, MotorType.kBrushless);
motor.configure( leftMotor.configure(
IntakeRollerConstants.leftMotorConfig, IntakeRollerConstants.leftMotorConfig,
ResetMode.kResetSafeParameters, ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters PersistMode.kPersistParameters
); );
rightMotor.configure(
IntakeRollerConstants.rightMotorConfig,
ResetMode.kResetSafeParameters,
PersistMode.kPersistParameters
);
} }
public Command runIn() { public Command runIn() {
return run(() -> { return run(() -> {
motor.set(IntakeRollerConstants.kSpeed*0.8); leftMotor.set(IntakeRollerConstants.kSpeed*0.8);
}); });
} }
public Command runOut() { public Command runOut() {
return run(() -> { return run(() -> {
motor.set(-IntakeRollerConstants.kSpeed); leftMotor.set(-IntakeRollerConstants.kSpeed);
}); });
} }
public Command stop() { public Command stop() {
return run(() -> { return run(() -> {
motor.set(0); leftMotor.set(0);
}); });
} }