feat: intake IO and commands #6
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| @@ -28,4 +28,23 @@ public enum Mode { | |||
| /** Replaying from a log file. */ | |||
| REPLAY | |||
| } | |||
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| public static class IntakeConstants { | |||
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This year, we want constants in their own files by subsystem to reduce merge conflicts
i.e. robot2025/subsystems/intake/IntakeConstants.java
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This year we want to use factory methods as much as possible, rather than separate command classes
Something like
public Command commandSetAngle(Rotation2d angle) {
return Commands.runOnce(...)
}
| import org.littletonrobotics.junction.Logger; | ||
| import org.team1540.robot2025.Constants; | ||
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| public class Intake extends SubsystemBase { |
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I would call this whole subsystem the coral intake
| public void setSpeed(double speed) { | ||
| io.setSpeed(speed); | ||
| } | ||
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| public void setPosition(Rotation2d rotations) { | ||
| io.setPosition(rotations); | ||
| } |
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I believe the intake has three functions:
Pivot (falcon)
Spin (falcon)
Funnel (the vertical rollers; neo)
The method names should reflect that
| private final TalonFX topFalcon = new TalonFX(Constants.IntakeConstants.TOP_FALCON_ID); | ||
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| // controls height of intake | ||
| private final TalonFX bottomFalcon = new TalonFX(Constants.IntakeConstants.BOTTOM_FALCON_ID); |
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Rather than top and bottom, labeling these (and related fields) with what they do would be clearer.
| // controls height of intake | ||
| private final TalonFX bottomFalcon = new TalonFX(Constants.IntakeConstants.BOTTOM_FALCON_ID); | ||
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| private final PositionVoltage motorRequest = new PositionVoltage(0).withSlot(0); |
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Might want to be MotionMagicVoltage
| // topFalcon.setInverted(false); | ||
| // bottomFalcon.setInverted(true); | ||
| // neo.setInverted(false); | ||
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You will want current limits, and you will want to configure the second motor (and maybe the neo)
| public void setSpeed(double speed) { | ||
| topFalcon.set(speed); | ||
| neo.set(speed); | ||
| // told by Ryan that they will always be in sync, will separate if needed |
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This would make sense to aggregate at the subsystem level, not the IO level.
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