Intake edits

TitaniumTigers4829 · Jan 17, 2025 · 944411b · 944411b
1 parent 253fc4c
commit 944411b
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Showing 5 changed files with 21 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java
@@ -10,8 +10,8 @@
 import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.robot.Constants.SimulationConstants;
 import frc.robot.commands.drive.DriveCommand;
-import frc.robot.commands.drive.Eject;
-import frc.robot.commands.drive.Intake;
+import frc.robot.commands.intake.Eject;
+import frc.robot.commands.intake.Intake;
 import frc.robot.extras.simulation.field.SimulatedField;
 import frc.robot.extras.simulation.mechanismSim.IntakeSimulation.IntakeSide;
 import frc.robot.extras.simulation.mechanismSim.swerve.GyroSimulation;

diff --git a/src/main/java/frc/robot/commands/intake/Eject.java b/src/main/java/frc/robot/commands/intake/Eject.java
@@ -13,14 +13,17 @@ public Eject(IntakeSubsystem intakeSubsystem){
     addRequirements(this.intakeSubsystem);
   }
 
+@Override
   public void execute(){
     intakeSubsystem.setIntakeSpeed(IntakeConstants.ejectSpeed);
   }
 
-  public void end(){
+@Override
+  public void end(boolean interrupted){
     intakeSubsystem.setIntakeSpeed(0);
   }
 
+@Override
   public boolean isFinished(){
     return false;
   }

diff --git a/src/main/java/frc/robot/commands/intake/Intake.java b/src/main/java/frc/robot/commands/intake/Intake.java
@@ -12,14 +12,17 @@ public Intake(IntakeSubsystem intakeSubsystem){
     addRequirements(this.intakeSubsystem);
   }
 
+  @Override
   public void execute(){
     intakeSubsystem.setIntakeSpeed(IntakeConstants.intakeSpeed);
   }
 
-  public void end(){
+  @Override
+  public void end(boolean interrupted){
     intakeSubsystem.setIntakeSpeed(0);
   }
 
+  @Override
   public boolean isFinished(){
     return false;
   }

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
@@ -5,4 +5,11 @@ public final class IntakeConstants {
 
     public static final int intakeSpeed = 0 - 9;
     public static final int ejectSpeed = 0 - 9;
+
+    //the max amount of stator and supply current allowed in the motor, respectively
+    public static final double IntakeStatorLimit = 0.0;
+    public static final double IntakeSupplyLimit = 0.0;
+    //Enables stator and supply current limits, respectively
+    public static final boolean IntakeStatorLimitEnable = true;
+    public static final boolean IntakeSupplyLimitEnable = true;
 }
diff --git a/src/main/java/frc/robot/subsystems/intake/PhysicalIntake.java b/src/main/java/frc/robot/subsystems/intake/PhysicalIntake.java
@@ -19,10 +19,10 @@ public PhysicalIntake(){
         intakeConfig.MotorOutput.NeutralMode = NeutralModeValue.Brake;
         intakeConfig.MotorOutput.DutyCycleNeutralDeadband = HardwareConstants.MIN_FALCON_DEADBAND;
 
-        intakeConfig.CurrentLimits.StatorCurrentLimit = 0.0;
-        intakeConfig.CurrentLimits.StatorCurrentLimitEnable = true;
-        intakeConfig.CurrentLimits.SupplyCurrentLimit = 0.0;
-        intakeConfig.CurrentLimits.StatorCurrentLimitEnable = true;
+        intakeConfig.CurrentLimits.StatorCurrentLimit = IntakeConstants.IntakeStatorLimit;
+        intakeConfig.CurrentLimits.StatorCurrentLimitEnable = IntakeConstants.IntakeStatorLimitEnable;
+        intakeConfig.CurrentLimits.SupplyCurrentLimit = IntakeConstants.IntakeSupplyLimit;
+        intakeConfig.CurrentLimits.StatorCurrentLimitEnable = IntakeConstants.IntakeSupplyLimitEnable;
 
         motor.getConfigurator().apply(intakeConfig);
     }