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Merge pull request #11 from SaintsRobotics/intake
Intake
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| Original file line number | Diff line number | Diff line change |
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| // Copyright (c) FIRST and other WPILib contributors. | ||
| // Open Source Software; you can modify and/or share it under the terms of | ||
| // the WPILib BSD license file in the root directory of this project. | ||
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| package frc.robot.subsystems; | ||
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| import com.revrobotics.CANSparkFlex; | ||
| import com.revrobotics.CANSparkLowLevel.MotorType; | ||
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| import edu.wpi.first.math.controller.PIDController; | ||
| import edu.wpi.first.wpilibj.DutyCycleEncoder; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard; | ||
| import frc.robot.Constants.IntakeConstants; | ||
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| public class IntakeSubsystem extends SubsystemBase { | ||
| CANSparkFlex m_intakeMotor = new CANSparkFlex(IntakeConstants.kIntakeMotorID, MotorType.kBrushless); | ||
| CANSparkFlex m_armMotor = new CANSparkFlex(IntakeConstants.kArmMotorID, MotorType.kBrushless); | ||
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| PIDController m_intakeVeloPID = new PIDController(IntakeConstants.kIntakeP, IntakeConstants.kIntakeI, | ||
| IntakeConstants.kIntakeD); | ||
| PIDController m_armPID = new PIDController(IntakeConstants.kArmP, IntakeConstants.kArmI, IntakeConstants.kArmD); | ||
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| DutyCycleEncoder m_armEncoder = new DutyCycleEncoder(IntakeConstants.kArmEncoderCh); | ||
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| /** Creates a new intake. */ | ||
| public IntakeSubsystem() { | ||
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| } | ||
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| // Starts intaking the disk | ||
| public void intakeDisk() { | ||
| m_intakeMotor.set(IntakeConstants.kIntakeSpeed); | ||
| } | ||
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| //Stops rotating the intake | ||
| public void stopIntaking() { | ||
| m_intakeMotor.set(0); | ||
| } | ||
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| /** | ||
| * Rotates the arm to a given angle | ||
| * @param angle motor to apply to intake | ||
| * | ||
| */ | ||
| public void tiltToAngle(double angle) { | ||
| m_armMotor.set(m_armPID.calculate(m_armEncoder.getAbsolutePosition(), angle)); | ||
| } | ||
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| //Stops rotating the arm | ||
| public void stopRotating(){ | ||
| m_armMotor.set(0); | ||
| } | ||
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| @Override | ||
| public void periodic() { | ||
| SmartDashboard.putBoolean("Intake",m_intakeMotor.get()>0); | ||
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| // This method will be called once per scheduler run | ||
| } | ||
| } |
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