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New intake again #69

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Merged
spellingcat merged 4 commits into from
Mar 22, 2026
Merged

New intake again #69

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a40976c
new gear ratio not tested yet
spellingcat Mar 22, 2026
dda6acb
not tested yet but find new cancoder offsets for intake
spellingcat Mar 22, 2026
11b7cd6
goated
spellingcat Mar 22, 2026
2b6a3ab
fix retraction lol
spellingcat Mar 22, 2026
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58 changes: 34 additions & 24 deletions src/main/java/frc/robot/subsystems/intake/SlapdownSubsystem.java
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Original file line number Diff line number Diff line change
Expand Up @@ -25,14 +25,15 @@
import org.littletonrobotics.junction.Logger;

public class SlapdownSubsystem extends SubsystemBase implements Intake {
public static final Rotation2d PIVOT_MIN_POSITION = Rotation2d.fromRotations(-0.052002);
public static final Rotation2d PIVOT_MIN_POSITION =
Rotation2d.fromDegrees(-26.894531); // Rotation2d.fromRotations(-0.052002);
public static final Rotation2d PIVOT_MAX_POSITION =
Rotation2d.fromDegrees(122); // Not so sure abt this one...
public static final Rotation2d PIVOT_EXTENDED_POSITION = PIVOT_MIN_POSITION;
public static final Rotation2d PIVOT_RETRACTED_POSITION = PIVOT_MAX_POSITION;
public static final double CURRENT_ZEROING_THRESHOLD = 30.0; // TODO: TUNE
public static final double ROLLER_GEAR_RATIO = 60.0 / 29.0;
public static final double PIVOT_GEAR_RATIO = 39.375;
public static final double PIVOT_GEAR_RATIO = 36.17578125; // 39.375;

private final PivotIO pivotIO;
private PivotIOInputsAutoLogged pivotIOInputs = new PivotIOInputsAutoLogged();
Expand Down Expand Up @@ -91,29 +92,38 @@ public void simulationPeriodic() {
@Override
public Command agitate() {
return Commands.sequence(
this.run(
() -> {
pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
rollerIO.setRollerVelocity(10.0);
})
.until(atExtensionTrigger),
this.run(
() -> {
pivotIO.setMotorPositionSetpoint(
PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40)));
rollerIO.setRollerVelocity(10.0);
})
.until(atExtensionTrigger))
.repeatedly();
this.run(
() -> {
// maybe needs to go slower but idrk how to do that rn
pivotIO.setMotorPositionSetpoint(PIVOT_RETRACTED_POSITION);
rollerIO.setRollerVelocity(10.0);
})
// .until(atExtensionTrigger),
// this.run(
// () -> {
// pivotIO.setMotorPositionSetpoint(
// PIVOT_EXTENDED_POSITION.plus(Rotation2d.fromDegrees(40)));
// rollerIO.setRollerVelocity(10.0);
// })
// .until(atExtensionTrigger))
// .repeatedly();
);
}

@Override
public Command intake() {
return this.run(
() -> {
pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
rollerIO.setRollerVelocity(80);
});
() -> {
pivotIO.setMotorPositionSetpoint(PIVOT_EXTENDED_POSITION);
rollerIO.setRollerVelocity(80);
})
.until(atExtensionTrigger)
.andThen(
this.run(
() -> {
pivotIO.setMotorVoltage(0);
rollerIO.setRollerVelocity(80);
}));
}

@Override
Expand Down Expand Up @@ -220,7 +230,7 @@ public static TalonFXConfiguration getRollerConfig() {
TalonFXConfiguration config = new TalonFXConfiguration();

config.MotorOutput.NeutralMode = NeutralModeValue.Brake;
config.MotorOutput.Inverted = InvertedValue.CounterClockwise_Positive; // TODO
config.MotorOutput.Inverted = InvertedValue.Clockwise_Positive; // TODO

config.Feedback.SensorToMechanismRatio = ROLLER_GEAR_RATIO;

Expand All @@ -231,7 +241,7 @@ public static TalonFXConfiguration getRollerConfig() {
config.Slot0.kD = 0.0;

// TODO: TUNE
config.CurrentLimits.StatorCurrentLimit = 55.0;
config.CurrentLimits.StatorCurrentLimit = 25.0;
config.CurrentLimits.StatorCurrentLimitEnable = true;
config.CurrentLimits.SupplyCurrentLimit = 40.0;
config.CurrentLimits.SupplyCurrentLimitEnable = true;
Expand All @@ -242,8 +252,8 @@ public static TalonFXConfiguration getRollerConfig() {
public static CANcoderConfiguration getCancoderConfig() {
CANcoderConfiguration config = new CANcoderConfiguration();

config.MagnetSensor.SensorDirection = SensorDirectionValue.Clockwise_Positive;
config.MagnetSensor.MagnetOffset = 0.26196;
config.MagnetSensor.SensorDirection = SensorDirectionValue.CounterClockwise_Positive;
config.MagnetSensor.MagnetOffset = 0.510498;
config.MagnetSensor.AbsoluteSensorDiscontinuityPoint = 0.5;

return config;
Expand Down
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