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75 changes: 17 additions & 58 deletions
75
src/main/java/org/littletonrobotics/frc2024/subsystems/superstructure/intake/Intake.java
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,81 +1,40 @@ | ||
| package org.littletonrobotics.frc2024.subsystems.superstructure.intake; | ||
|
|
||
| import edu.wpi.first.wpilibj.DriverStation; | ||
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.Commands; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import lombok.Getter; | ||
| import lombok.Setter; | ||
| import org.littletonrobotics.frc2024.util.LoggedTunableNumber; | ||
| import org.littletonrobotics.junction.Logger; | ||
| import org.littletonrobotics.junction.networktables.LoggedDashboardNumber; | ||
|
|
||
| public class Intake extends SubsystemBase { | ||
| private final LoggedDashboardNumber intakeVoltage = | ||
| new LoggedDashboardNumber("Intake/intakeVoltage", 8.0); | ||
| private final LoggedTunableNumber intakeVolts = | ||
| new LoggedTunableNumber("Intake/intakeVoltage", 8.0); | ||
| private final LoggedTunableNumber ejectVolts = new LoggedTunableNumber("Intake/ejectVolts", -2.0); | ||
| private final IntakeIO io; | ||
| private final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); | ||
|
|
||
| private boolean intake = false; | ||
| private boolean eject = false; | ||
| public enum Goal { | ||
| IDLE, | ||
| INTAKE, | ||
| REVERSE_INTAKE | ||
| } | ||
|
|
||
| @Setter @Getter Goal goal = Goal.IDLE; | ||
|
|
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| public Intake(IntakeIO io) { | ||
| System.out.println("[Init] Creating Intake"); | ||
| this.io = io; | ||
| // TODO: test if this is needed | ||
| io.setBrakeMode(false); | ||
| } | ||
|
|
||
| @Override | ||
| public void periodic() { | ||
| io.updateInputs(inputs); | ||
| Logger.processInputs("Intake", inputs); | ||
|
|
||
| if (DriverStation.isDisabled()) { | ||
| stop(); | ||
| } else { | ||
| if (intake) { | ||
| io.setVoltage(intakeVoltage.get()); | ||
| } else if (eject) { | ||
| io.setVoltage(-intakeVoltage.get()); | ||
| } | ||
| switch (goal) { | ||
| case IDLE -> io.stop(); | ||
| case INTAKE -> io.runVolts(intakeVolts.get()); | ||
| case REVERSE_INTAKE -> io.runVolts(ejectVolts.get()); | ||
| } | ||
| } | ||
|
|
||
| public boolean intaking() { | ||
| return intake; | ||
| } | ||
|
|
||
| public boolean ejecting() { | ||
| return eject; | ||
| } | ||
|
|
||
| public boolean running() { | ||
| return eject || intake; | ||
| } | ||
|
|
||
| private void intake() { | ||
| intake = true; | ||
| eject = false; | ||
| } | ||
|
|
||
| private void eject() { | ||
| eject = true; | ||
| intake = false; | ||
| } | ||
|
|
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| private void stop() { | ||
| intake = false; | ||
| eject = false; | ||
| io.stop(); | ||
| } | ||
|
|
||
| public Command intakeCommand() { | ||
| return Commands.runOnce(this::intake); | ||
| } | ||
|
|
||
| public Command ejectCommand() { | ||
| return Commands.runOnce(this::eject); | ||
| } | ||
|
|
||
| public Command stopCommand() { | ||
| return Commands.runOnce(this::stop); | ||
| } | ||
| } |
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