From 75e4e4ce582c7152750996a11a9b8df6cd717ca5 Mon Sep 17 00:00:00 2001 From: Jackson Wess Date: Mon, 9 Mar 2026 19:36:13 -0400 Subject: [PATCH] Fixed Intake deployer --- src/main/java/frc/robot/Robot.java | 5 ++--- .../robot/commands/intakeDeployment/ToggleDeployment.java | 5 ++++- src/main/java/frc/robot/constants/GameConstants.java | 4 ++-- .../java/frc/robot/subsystems/IntakeDeployerSubsystem.java | 6 ++++++ 4 files changed, 14 insertions(+), 6 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 737fb59..41d6c5f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -115,7 +115,7 @@ public void robotPeriodic() { } Logger.recordOutput("shootingState", robotContainer.getShootingState().getShootState().toString()); - + SmartDashboard.putString("DeploymentState", robotContainer.getDeployer().getDeploymentState().toString()); if (Constants.currentMode.equals(Constants.Mode.SIM)) { robotContainer.getRobotVisualizer().logMechanism(); } @@ -132,8 +132,7 @@ public void robotPeriodic() { if (Constants.DEBUG) { SmartDashboard.putNumber("driverXbox.getLeftY()", driverXbox.getLeftY()); SmartDashboard.putNumber("driverXbox::getRightX", driverXbox.getRightX()); - SmartDashboard.putString("DeploymentState", robotContainer.getDeployer().getDeploymentState().toString()); - if (!Constants.TESTBED) { + if (!Constants.TESTBED) { Logger.recordOutput("MyPose", robotContainer.getDriveBase().getPose()); // Puts data on the elastic dashboard SmartDashboard.putString("Alliance Color", Robot.allianceColorString()); diff --git a/src/main/java/frc/robot/commands/intakeDeployment/ToggleDeployment.java b/src/main/java/frc/robot/commands/intakeDeployment/ToggleDeployment.java index 256ec20..06f22c1 100644 --- a/src/main/java/frc/robot/commands/intakeDeployment/ToggleDeployment.java +++ b/src/main/java/frc/robot/commands/intakeDeployment/ToggleDeployment.java @@ -6,6 +6,7 @@ import edu.wpi.first.wpilibj.Timer; import frc.robot.constants.Constants; +import frc.robot.constants.enums.DeploymentState; import frc.robot.subsystems.IntakeDeployerSubsystem; import frc.robot.utils.logging.commands.LoggableCommand; @@ -27,6 +28,7 @@ public void initialize() { @Override public void execute() { + System.out.println("INTAKE DEPLOYING IN "+subsystem.getDeploymentState().toString()); switch (subsystem.getDeploymentState()) { case UP -> subsystem.setSpeed(Constants.INITIAL_INTAKE_RETRACTION_SPEED); case DOWN -> subsystem.setSpeed(Constants.INITIAL_INTAKE_DEPLOYMENT_SPEED); @@ -41,6 +43,7 @@ public void end(boolean interrupted) { @Override public boolean isFinished() { - return timer.hasElapsed(Constants.INTAKE_DEPLOYER_BURNOUT_TIMER); + boolean limitSwitch = subsystem.getDeploymentState() == DeploymentState.UP ? subsystem.getFwrLimitSwitchState() : subsystem.getRevLimitSwitchState(); + return timer.hasElapsed(Constants.INTAKE_DEPLOYER_BURNOUT_TIMER) || limitSwitch || subsystem.getDeploymentState() == DeploymentState.STOPPED; } } diff --git a/src/main/java/frc/robot/constants/GameConstants.java b/src/main/java/frc/robot/constants/GameConstants.java index d3eb0b7..22af32a 100644 --- a/src/main/java/frc/robot/constants/GameConstants.java +++ b/src/main/java/frc/robot/constants/GameConstants.java @@ -57,7 +57,7 @@ public enum Mode { public static final double INTAKE_DEPLOYER_SPEED = -0.075; public static final double INTAKE_RETRACTION_SPEED = 0.1; public static final double INITIAL_INTAKE_DEPLOYMENT_SPEED = -0.1; - public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.25; + public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.5; //Diags @@ -80,7 +80,7 @@ public enum Mode { public static final double ANGLER_TIMEOUT = 60; public static final int SERVER_SOCKET_CONNECTION_TIMEOUT = 2000; public static final double SHOOTER_TIMEOUT = 5; - public static final double INTAKE_DEPLOYER_BURNOUT_TIMER = 2; + public static final double INTAKE_DEPLOYER_BURNOUT_TIMER = 5; public static final double TURRET_TIMEOUT = 5; //Angles diff --git a/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java index 169d1f3..eded62c 100644 --- a/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java @@ -110,4 +110,10 @@ public void toggleState() { deploymentState = DeploymentState.UP; } } + public boolean getFwrLimitSwitchState(){ + return io.isFwdSwitchPressed(); + } + public boolean getRevLimitSwitchState(){ + return io.isRevSwitchPressed(); + } }