Merge branch 'intake'

Prospect-Robotics · Feb 2, 2024 · c67672f · c67672f
2 parents 8d1fa85 + 6fc5701
commit c67672f
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Showing 3 changed files with 70 additions and 10 deletions.
diff --git a/Robot2024/lib/build.gradle b/Robot2024/lib/build.gradle
@@ -13,6 +13,11 @@ plugins {
 	id 'maven-publish'
 }
 
+java {
+	sourceCompatibility = JavaVersion.VERSION_17
+	targetCompatibility = JavaVersion.VERSION_17
+}
+
 tasks.withType(JavaCompile) {
     // Configure string concat to always inline compile
     options.compilerArgs.add '-XDstringConcat=inline'

diff --git a/Robot2024/src/main/java/com/team2813/Constants.java b/Robot2024/src/main/java/com/team2813/Constants.java
@@ -43,20 +43,20 @@ public static class DriverConstants {
 	// back left swerve module
 	public static final int BACK_LEFT_DRIVE_ID = 10;
 	public static final int BACK_LEFT_ENCODER_ID = 11;
-	public static final int BACK_LEFT_STEER_ID = 12;	
+	public static final int BACK_LEFT_STEER_ID = 12;
 
-	// pigeon 
+	// pigeon
 	public static final int PIGEON_ID = 13;
 
-    //Mechanism CAN IDs
-    public static final int INTAKE = 14;
-    public static final int KICKER = 15;
-    public static final int SHOOTER_1 = 16;
+	//Mechanism CAN IDs
+	public static final int INTAKE = 14;
+	public static final int KICKER = 15;
+	public static final int SHOOTER_1 = 16;
 	public static final int SHOOTER_2 = 17;
-    public static final int SHOOTER_PIVOT= 18;
-    public static final int SHOOTER_ENCODER = 19;
-    public static final int CLIMBER = 20;
-    public static final int MAGAZINE = 21;
+	public static final int SHOOTER_PIVOT= 18;
+	public static final int SHOOTER_ENCODER = 19;
+	public static final int CLIMBER = 20;
+	public static final int MAGAZINE = 21;
 	public static final int INTAKE_ENCODER = 22;
 	public static final int INTAKE_PIVOT = 23;
 }
diff --git a/Robot2024/src/main/java/com/team2813/subsystems/Intake.java b/Robot2024/src/main/java/com/team2813/subsystems/Intake.java
@@ -0,0 +1,55 @@
+package com.team2813.subsystems;
+
+import com.ctre.phoenix.motorcontrol.TalonFXInvertType;
+import com.ctre.phoenix.sensors.CANCoder;
+import com.revrobotics.CANSparkLowLevel;
+
+import com.team2813.lib2813.control.motors.TalonFXWrapper;
+import com.team2813.lib2813.control.motors.SparkMaxWrapper;
+import com.team2813.lib2813.control.ControlMode;
+import com.team2813.lib2813.util.ConfigUtils;
+
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
+
+import static com.team2813.Constants.*;
+public class Intake extends SubsystemBase {
+    private final TalonFXWrapper intakeMotor = new TalonFXWrapper(INTAKE, TalonFXInvertType.CounterClockwise);
+    private final TalonFXWrapper pivotMotor = new TalonFXWrapper(INTAKE_PIVOT, TalonFXInvertType.CounterClockwise);
+    private final CANCoder encoder = new CANCoder(INTAKE_ENCODER);
+
+    //private final SparkMaxWrapper intakeMotor = new SparkMaxWrapper(INTAKE, CANSparkLowLevel.MotorType.kBrushless, true);
+    //private final SparkMaxWrapper pivotMotor = new SparkMaxWrapper(INTAKE_PIVOT, CANSparkLowLevel.MotorType.kBrushless, true);
+
+    private static final double INTAKE_SPEED = 0.25;
+    private static final double OUTTAKE_SPEED = -0.25;
+
+    private static final double PIVOT_UP_SPEED = .10;
+    private static final double PIVOT_DOWN_SPEED = -.10;
+
+
+    public Intake() {
+        //encoder.configSensorDirection(true);
+    }
+
+    public void intake() { intakeMotor.set(ControlMode.DUTY_CYCLE, INTAKE_SPEED); }
+
+    public void outtake() { intakeMotor.set(ControlMode.DUTY_CYCLE, OUTTAKE_SPEED); }
+
+    public void stopIntakeMotor() { intakeMotor.set(ControlMode.DUTY_CYCLE, 0); }
+
+    public void pivotUp() { pivotMotor.set(ControlMode.DUTY_CYCLE, PIVOT_UP_SPEED); }
+
+    public void pivotDown() { pivotMotor.set(ControlMode.DUTY_CYCLE, PIVOT_DOWN_SPEED); }
+
+    public void stopPivotMotor() { pivotMotor.set(ControlMode.DUTY_CYCLE, 0); }
+
+    public double getMeasurement() { return encoder.getPosition(); }
+
+    public void zeroSensors() { ConfigUtils.ctreConfig(() -> encoder.setPosition(0)); }
+
+
+
+}
+
+