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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,85 +1,35 @@ | ||
| // Copyright 2021-2024 FRC 6328, FRC 5829 | ||
| // http://github.com/Mechanical-Advantage | ||
| // | ||
| // This program is free software; you can redistribute it and/or | ||
| // modify it under the terms of the GNU General Public License | ||
| // version 3 as published by the Free Software Foundation or | ||
| // available in the root directory of this project. | ||
| // | ||
| // This program is distributed in the hope that it will be useful, | ||
| // but WITHOUT ANY WARRANTY; without even the implied warranty of | ||
| // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | ||
| // GNU General Public License for more details. | ||
|
|
||
| package frc.robot.subsystems.intake; | ||
|
|
||
| import edu.wpi.first.math.controller.SimpleMotorFeedforward; | ||
| import edu.wpi.first.math.util.Units; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
| import com.revrobotics.CANSparkMax; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import frc.robot.Constants; | ||
| import frc.robot.Constants.EnvironmentalConstants; | ||
| import org.littletonrobotics.junction.AutoLogOutput; | ||
| import org.littletonrobotics.junction.Logger; | ||
| import frc.robot.Constants.IntakeConstants; | ||
|
|
||
| public class Intake extends SubsystemBase { | ||
| private final IntakeIO io; | ||
| private final IntakeIOInputsAutoLogged inputs = new IntakeIOInputsAutoLogged(); | ||
| private final SimpleMotorFeedforward ffModel; | ||
| // private static final double GEAR_RATIO = 52.0 / 34.0; // May be reciprocal | ||
|
|
||
| /** Creates a new Flywheel. */ | ||
| public Intake(IntakeIO io) { | ||
| this.io = io; | ||
| private final CANSparkMax intakeMotor = | ||
| new CANSparkMax(IntakeConstants.kIntakeSparkMaxCanId, MotorType.kBrushless); | ||
| private final CANSparkMax followerIntakeMotor = | ||
| new CANSparkMax(IntakeConstants.kFollowerIntakeSparkMaxCanId, MotorType.kBrushless); | ||
|
|
||
| io.configurePID( | ||
| Constants.IntakeConstants.kP, Constants.IntakeConstants.kI, Constants.IntakeConstants.kD); | ||
| public Intake() { | ||
| intakeMotor.restoreFactoryDefaults(); | ||
| followerIntakeMotor.restoreFactoryDefaults(); | ||
|
|
||
| switch (EnvironmentalConstants.currentMode) { | ||
| case REAL: | ||
| case REPLAY: | ||
| ffModel = new SimpleMotorFeedforward(0.1, 0.05); | ||
| break; | ||
| case SIM: | ||
| ffModel = new SimpleMotorFeedforward(0.0, 0.03); | ||
| break; | ||
| default: | ||
| ffModel = new SimpleMotorFeedforward(0.0, 0.0); | ||
| break; | ||
| } | ||
| } | ||
| intakeMotor.setInverted(false); | ||
|
|
||
| @Override | ||
| public void periodic() { | ||
| io.updateInputs(inputs); | ||
| Logger.processInputs("Intake", inputs); | ||
| } | ||
| followerIntakeMotor.follow(intakeMotor, false); | ||
|
|
||
| /** Run open loop at the specified voltage. */ | ||
| public void runVolts(double volts) { | ||
| io.setVoltage(volts); | ||
| intakeMotor.burnFlash(); | ||
| followerIntakeMotor.burnFlash(); | ||
| } | ||
|
|
||
| /** Run closed loop at the specified velocity. */ | ||
| public void runVelocity(double velocityRPM) { | ||
| var velocityRadPerSec = Units.rotationsPerMinuteToRadiansPerSecond(velocityRPM); | ||
| io.setVelocity(velocityRadPerSec, ffModel.calculate(velocityRadPerSec)); | ||
|
|
||
| // Log flywheel setpoint | ||
| Logger.recordOutput("Intake/SetpointRPM", velocityRPM); | ||
| public void setPercent(double pct) { | ||
| intakeMotor.set(pct); | ||
| } | ||
|
|
||
| /** Stops the flywheel. */ | ||
| public void stop() { | ||
| io.stop(); | ||
| } | ||
|
|
||
| /** Returns the current velocity in RPM. */ | ||
| @AutoLogOutput | ||
| public double getVelocityRPM() { | ||
| return Units.radiansPerSecondToRotationsPerMinute(inputs.velocityRadPerSec); | ||
| } | ||
|
|
||
| /** Returns the current velocity in radians per second. */ | ||
| public double getCharacterizationVelocity() { | ||
| return inputs.velocityRadPerSec; | ||
| intakeMotor.stopMotor(); | ||
| } | ||
| } |
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src/main/java/frc/robot/subsystems/intake/IntakeIOSim.java
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src/main/java/frc/robot/subsystems/intake/IntakeIOSparkMax.java
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