Skip to content

cha cha slide #67

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
rhit-collinkn merged 2 commits into from
Mar 9, 2026
Merged

cha cha slide #67

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
3216c4e
cha cha slide
GhostR406 Mar 9, 2026
6024500
spotless cha cha slide
GhostR406 Mar 9, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 8 additions & 0 deletions src/main/java/frc/robot/Constants.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,9 @@
import edu.wpi.first.units.measure.MomentOfInertia;
import edu.wpi.first.units.measure.Velocity;
import edu.wpi.first.units.measure.Voltage;
import edu.wpi.first.wpilibj.DigitalInput;
import edu.wpi.first.wpilibj.DutyCycle;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import edu.wpi.first.wpilibj.RobotBase;
import edu.wpi.first.wpilibj.simulation.SingleJointedArmSim;
import frc.lib.W8.mechanisms.linear.LinearMechanism.LinearMechCharacteristics;
Expand Down Expand Up @@ -618,6 +621,11 @@ public class IntakePivotConstants {
public static final DCMotor DCMOTOR = DCMotor.getKrakenX60(1);
public static final MomentOfInertia MOI = KilogramSquareMeters.of(0.25);

public static final int ENCODER_CHANNEL = 9;
public static final DutyCycleEncoder ENCODER1 =
new DutyCycleEncoder(new DutyCycle(new DigitalInput(ENCODER_CHANNEL)));
// public static final Encoder ENCODER = new Encoder(ENCODER_CHANNEL, ENCODER_CHANNEL);

// Positional PID
public static final Slot0Configs SLOT_0_CONFIG =
new Slot0Configs().withKP(100.0).withKI(0.0).withKD(0).withKS(0.07).withKV(0.1);
Expand Down
9 changes: 9 additions & 0 deletions src/main/java/frc/robot/subsystems/Intake.java
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import static edu.wpi.first.units.Units.Degree;
import static edu.wpi.first.units.Units.Radians;
import static edu.wpi.first.units.Units.Rotations;
import static edu.wpi.first.units.Units.RotationsPerSecond;

import edu.wpi.first.math.geometry.Pose3d;
Expand All @@ -17,6 +18,7 @@
import frc.lib.W8.mechanisms.rotary.RotaryMechanism;
import frc.robot.Constants.IntakeFlywheelConstants;
import frc.robot.Constants.IntakePivotConstants;
import frc.robot.Robot;
import org.littletonrobotics.junction.Logger;

public class Intake extends SubsystemBase {
Expand All @@ -32,6 +34,8 @@ public Intake(FlywheelMechanism rollerIO, RotaryMechanism pivotIO) {
_rollerIO = rollerIO;
_pivotIO = pivotIO;

if (Robot.isReal()) tunePivotPosition();

simBalls = 0;
}

Expand Down Expand Up @@ -107,6 +111,11 @@ private Command setStowAngle(Angle stowAngle) {
PIDSlot.SLOT_0));
}

public void tunePivotPosition() {
System.out.println(IntakePivotConstants.ENCODER1.get());
_pivotIO.setEncoderPosition(Rotations.of(IntakePivotConstants.ENCODER1.get()));
}

@Override
public void periodic() {
// if (_pivotIO.getPosition().in(Degree) < IntakePivotConstants.MAX_ANGLE.in(Degree))
Expand Down