fix(intake): Rumble on note.

Author: haydenheroux

src/main/java/frc/robot/RobotContainer.java

@@ -1,8 +1,12 @@
 package frc.robot;
 
+import edu.wpi.first.wpilibj.XboxController;
+import edu.wpi.first.wpilibj.GenericHID.RumbleType;
 import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.Command;
+import edu.wpi.first.wpilibj2.command.Commands;
 import edu.wpi.first.wpilibj2.command.button.CommandXboxController;
+import edu.wpi.first.wpilibj2.command.button.Trigger;
 import frc.lib.Telemetry;
 import frc.robot.arm.Arm;
 import frc.robot.auto.Auto;
@@ -29,6 +33,8 @@ public class RobotContainer {
 
   private final CommandXboxController driverController, operatorController;
 
+  private final XboxController rumbleController; 
+
   /** Creates a new instance of the robot container. */
   private RobotContainer() {
     arm = Arm.getInstance();
@@ -41,6 +47,7 @@ private RobotContainer() {
 
     driverController = new CommandXboxController(0);
     operatorController = new CommandXboxController(1);
+    rumbleController = new XboxController(1);
 
     initializeTelemetry();
     configureDefaultCommands();
@@ -88,6 +95,20 @@ private void configureBindings() {
     operatorController.a().onTrue(superstructure.amp());
     operatorController.x().onTrue(superstructure.stow());
     operatorController.y().onTrue(superstructure.climb());
+
+    new Trigger(intake::rollerNote).onTrue(rumbleOn()).onFalse(rumbleOff());
+  }
+
+  public void rumble(double value) {
+    rumbleController.setRumble(RumbleType.kBothRumble, value);
+  }
+
+  public Command rumbleOn() {
+    return Commands.runOnce(() -> rumble(1));
+  }
+
+  public Command rumbleOff() {
+    return Commands.runOnce(() -> rumble(0));
   }
 
   /**

src/main/java/frc/robot/intake/Intake.java

@@ -64,18 +64,18 @@ public void addToShuffleboard(ShuffleboardTab tab) {
     VelocityControllerIO.addToShuffleboard(tab, "Front Roller", frontRollerValues);
     VelocityControllerIO.addToShuffleboard(tab, "Back Roller", backRollerValues);
 
-    tab.addBoolean("Roller Stuck?", this::rollerStuck);
+    tab.addBoolean("Roller Note?", this::rollerNote);
   }
 
   public boolean frontRollerStuck() {
-    return frontRollerValues.motorAmps > FrontRollerConstants.STUCK_AMPS;
+    return frontRollerValues.motorAmps > FrontRollerConstants.NOTE_AMPS;
   }
 
   public boolean backRollerStuck() {
-    return backRollerValues.motorAmps > BackRollerConstants.STUCK_AMPS;
+    return backRollerValues.motorAmps > BackRollerConstants.NOTE_AMPS;
   }
 
-  public boolean rollerStuck() {
+  public boolean rollerNote() {
     return frontRollerStuck() || backRollerStuck();
   }
 

src/main/java/frc/robot/intake/IntakeConstants.java

@@ -37,7 +37,7 @@ public static class FrontRollerConstants {
     /** Maximum speed of the roller in rotations per second. */
     public static final double MAXIMUM_SPEED = 67;
 
-    public static final double STUCK_AMPS = 100;
+    public static final double NOTE_AMPS = 20;
   }
 
   /** Constants for the back roller. */
@@ -71,6 +71,6 @@ public static class BackRollerConstants {
     /** Maximum speed of the roller in rotations per second. */
     public static final double MAXIMUM_SPEED = 67;
 
-    public static final double STUCK_AMPS = 80;
+    public static final double NOTE_AMPS = 20;
   }
 }