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Jw fixed intake deployer #107

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Jw fixed intake deployer #107

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75e4e4c
Fixed Intake deployer
JAMthepersonj Mar 9, 2026
bca2011
Merge branch 'main' of https://github.com/FRC4048/Java_2026 into JW-f…
JAMthepersonj Mar 9, 2026
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5 changes: 2 additions & 3 deletions src/main/java/frc/robot/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
}
Expand All @@ -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());
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5 changes: 4 additions & 1 deletion src/main/java/frc/robot/commands/intakeDeployment/ToggleDeployment.java
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Expand Up @@ -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;

Expand All @@ -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);
Expand All @@ -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;
}
}
6 changes: 3 additions & 3 deletions src/main/java/frc/robot/constants/GameConstants.java
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Expand Up @@ -56,8 +56,8 @@ public enum Mode {
public static final double SHOOTER_SPEED = 1500;
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 = -0.15;
public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.3;
public static final double INITIAL_INTAKE_DEPLOYMENT_SPEED = -0.1;
public static final double INITIAL_INTAKE_RETRACTION_SPEED = 0.5;


//Diags
Expand All @@ -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
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6 changes: 6 additions & 0 deletions src/main/java/frc/robot/subsystems/IntakeDeployerSubsystem.java
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Expand Up @@ -110,4 +110,10 @@ public void toggleState() {
deploymentState = DeploymentState.UP;
}
}
public boolean getFwrLimitSwitchState(){
return io.isFwdSwitchPressed();
}
public boolean getRevLimitSwitchState(){
return io.isRevSwitchPressed();
}
}