IntakeModes moved back to intakesubsystem

Iron-Panthers · Dec 1, 2023 · 11ab675 · 11ab675
1 parent f3e05df
commit 11ab675
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Showing 4 changed files with 25 additions and 32 deletions.
diff --git a/src/main/java/frc/robot/commands/IntakeModeCommand.java b/src/main/java/frc/robot/commands/IntakeModeCommand.java
@@ -6,8 +6,8 @@
 
 import edu.wpi.first.wpilibj2.command.CommandBase;
 import frc.robot.Constants.Intake;
-import frc.robot.subsystems.IntakeIOTalonFX.Modes;
 import frc.robot.subsystems.IntakeSubsystem;
+import frc.robot.subsystems.IntakeSubsystem.Modes;
 import java.util.function.BooleanSupplier;
 
 public class IntakeModeCommand extends CommandBase {

diff --git a/src/main/java/frc/robot/subsystems/IntakeIO.java b/src/main/java/frc/robot/subsystems/IntakeIO.java
@@ -1,14 +1,15 @@
 package frc.robot.subsystems;
 
+import frc.robot.subsystems.IntakeSubsystem.Modes;
 import org.littletonrobotics.junction.AutoLog;
 
 public interface IntakeIO {
   @AutoLog
   public static class IntakeIOInputs {
-    public double currentExtension = 0.0;
-    public double velocityRadPerSec = 0.0;
-    public double appliedVolts = 0.0;
-    public double[] currentAmps = new double[] {};
+    public Modes currentIntakeMode = Modes.OFF;
+    public double filterOutput = 0.0;
+    public boolean isCone = false;
+    public double motorOutput = 0.0;
   }
 
   /** Updates the set of loggable inputs. */

diff --git a/src/main/java/frc/robot/subsystems/IntakeIOTalonFX.java b/src/main/java/frc/robot/subsystems/IntakeIOTalonFX.java
@@ -16,7 +16,6 @@
 public class IntakeIOTalonFX extends SubsystemBase {
   private TalonFX intakeMotor;
   private ShuffleboardTab shuffleboard = Shuffleboard.getTab("Intake Subsystem");
-  private Modes currentIntakeMode;
   private LinearFilter filter;
   private double filterOutput;
   private boolean isCone;
@@ -34,36 +33,20 @@ public IntakeIOTalonFX() {
 
     filter = LinearFilter.movingAverage(30);
 
-    currentIntakeMode = Modes.OFF;
-
     filterOutput = 0.0;
 
     isCone = false;
   }
 
-  public enum Modes {
-    INTAKE,
-    OUTTAKE,
-    HOLD,
-    OFF;
-  }
-
   public void setMotorPower(double power) {
     intakeMotor.set(TalonFXControlMode.PercentOutput, power);
   }
 
+  // @AutoLogOutput
   public double getMotorPower() {
     return intakeMotor.getMotorOutputPercent();
   }
 
-  public Modes getMode() {
-    return currentIntakeMode;
-  }
-
-  public void setMode(Modes hold) {
-    currentIntakeMode = hold;
-  }
-
   public void setIsCone(boolean isCone) {
     this.isCone = isCone;
   }
@@ -75,4 +58,6 @@ public boolean getIsCone() {
   public double getFilterOutput() {
     return filterOutput;
   }
+
+  public void updateInputs(IntakeIO inputs) {}
 }
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -9,12 +9,12 @@
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.Constants.Intake;
 import frc.robot.subsystems.IntakeIO.IntakeIOInputs;
-import frc.robot.subsystems.IntakeIOTalonFX.Modes;
 
 public class IntakeSubsystem extends SubsystemBase {
   private final IntakeIO io;
   private final IntakeIOInputs inputs = new IntakeIOInputs();
   private final IntakeIOTalonFX motorIO = new IntakeIOTalonFX();
+  private Modes mode;
   private ShuffleboardTab shuffleboard = Shuffleboard.getTab("Intake Subsystem");
 
   // private final TimeOfFlight coneToF, cubeToF;
@@ -23,18 +23,25 @@ public class IntakeSubsystem extends SubsystemBase {
   public IntakeSubsystem(IntakeIO io) {
     this.io = io;
 
-    shuffleboard.addString("Current mode", () -> motorIO.getMode().toString());
+    shuffleboard.addString("Current mode", () -> mode.toString());
     shuffleboard.addDouble("filter output", () -> motorIO.getFilterOutput());
     shuffleboard.addDouble("motor output", () -> motorIO.getMotorPower());
     shuffleboard.addBoolean("is cube intake", () -> motorIO.getIsCone());
   }
 
+  public enum Modes {
+    INTAKE,
+    OUTTAKE,
+    HOLD,
+    OFF;
+  }
+
   public Modes getMode() {
-    return motorIO.getMode();
+    return mode;
   }
 
-  public void setMode(frc.robot.subsystems.IntakeIOTalonFX.Modes hold) {
-    motorIO.setMode(hold);
+  public void setMode(Modes mode) {
+    this.mode = mode;
   }
 
   public void setIsCone(boolean isCone) {
@@ -45,7 +52,7 @@ public double getFilterOutput() {
     return motorIO.getFilterOutput();
   }
 
-  public void intakePeriodic(frc.robot.subsystems.IntakeIOTalonFX.Modes modes) {
+  public void intakePeriodic(Modes modes) {
 
     switch (modes) {
       case INTAKE:
@@ -80,11 +87,11 @@ public void intakePeriodic(frc.robot.subsystems.IntakeIOTalonFX.Modes modes) {
   public void periodic() {
     double filterOutput = motorIO.getFilterOutput();
     if (motorIO.getIsCone() && filterOutput >= Intake.CONE_STATOR_LIMIT) {
-      motorIO.setMode(Modes.HOLD);
+      mode = Modes.HOLD;
     } else if (filterOutput >= Intake.CUBE_STATOR_LIMIT) {
-      motorIO.setMode(Modes.HOLD);
+      mode = Modes.HOLD;
     }
 
-    intakePeriodic(motorIO.getMode());
+    intakePeriodic(mode);
   }
 }