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Gear driven intake #153

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f6fbf3c
Changed Intake extension and Intake roller constants
neelabhb-sudo Jun 23, 2026
c7d22c4
Applied Spotless
neelabhb-sudo Jun 23, 2026
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29 changes: 11 additions & 18 deletions src/main/java/frc/robot/auto/Autonomous.java
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Original file line number Diff line number Diff line change
Expand Up @@ -75,13 +75,11 @@ private Command singleNeutralCycle(boolean rightSide) {
robot
.getSwerveDrive()
.followPath("left_neutral.0", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
.deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot
.getSwerveDrive()
.followPath("left_neutral.1", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
.deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot.getSwerveDrive().followPath("left_neutral.2", rightSide),
shootFuel.shoot());
}
Expand All @@ -104,30 +102,25 @@ private Command doubleNeutralCycle(boolean rightSide) {
robot
.getSwerveDrive()
.followPath("left_neutral.0", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
.deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot
.getSwerveDrive()
.followPath("left_neutral.1", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
.deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot.getSwerveDrive().followPath("left_neutral.2", rightSide),
shootFuel.shootAllFuelStationary().withTimeout(20.0 - 13.2),
robot
.getSwerveDrive()
.followPath("left_neutral.3", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
.deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot
.getSwerveDrive()
.followPath("left_neutral.4", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
.deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot
.getSwerveDrive()
.followPath("left_neutral.5", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
.deadlineFor(robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
shootFuel.shoot());
}

Expand All @@ -150,24 +143,24 @@ public Command bump(boolean rightSide) {
.getSwerveDrive()
.followPath("left_neutral_bump.0", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot
.getSwerveDrive()
.followPath("left_neutral_bump.1", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot.getSwerveDrive().followPath("left_neutral_bump.2", rightSide),
shootFuel.shootAllFuelStationary().withTimeout(5),
robot
.getSwerveDrive()
.followPath("left_neutral_bump.3", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot
.getSwerveDrive()
.followPath("left_neutral_bump.4", rightSide)
.deadlineFor(
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intakeFast()),
robot.getIntakeExtension().extend(), robot.getIntakeRollers().intake()),
robot.getSwerveDrive().followPath("left_neutral_bump.5", rightSide),
shootFuel.shoot())
.withTimeout(20);
Expand Down
8 changes: 4 additions & 4 deletions src/main/java/frc/robot/subsystems/intakeextension/IntakeExtensionConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -27,16 +27,16 @@ public final class IntakeExtensionConstants {

public static final int MOTOR_CAN_ID = 40;
public static final DCMotor MOTOR_PHYSICS = DCMotor.getKrakenX44Foc(1);
public static final Mass MOVING_MASS = Pounds.of(12);
public static final Mass MOVING_MASS = Pounds.of(14.5); // Subject to Change
public static final Distance MAX_POSITION = Inches.of(10.1);
public static final Distance MIN_POSITION = Inches.of(0);
public static final Distance RETRACT_POSITION = Inches.of(3);
public static final Angle ANGLE = Degrees.of(-18.5);
public static final Distance PINION_RADIUS = Inches.of(0.75);
public static final Angle ANGLE = Degrees.of(-18.6196233);
public static final Distance PINION_RADIUS = Inches.of(1.5);
public static final int CANDI_DEVICE_ID = 20;
public static final Distance POSITION_TOLERANCE = Inches.of(0.125);
public static final Voltage FINE_CONTROL_VOLTAGE = Volts.of(1.0);
public static final double GEAR_RATIO = 7.2;
public static final double GEAR_RATIO = 7;

public static final TalonFXConfiguration MOTOR_CONFIGURATION =
new TalonFXConfiguration()
Expand Down
56 changes: 30 additions & 26 deletions src/main/java/frc/robot/subsystems/intakerollers/IntakeRollers.java
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Original file line number Diff line number Diff line change
Expand Up @@ -4,12 +4,14 @@
import static edu.wpi.first.units.Units.RotationsPerSecond;

import com.ctre.phoenix6.BaseStatusSignal;
import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.StatusSignal;
import com.ctre.phoenix6.controls.CoastOut;
import com.ctre.phoenix6.controls.DutyCycleOut;
import com.ctre.phoenix6.controls.Follower;
import com.ctre.phoenix6.controls.VoltageOut;
import com.ctre.phoenix6.hardware.TalonFX;
import com.ctre.phoenix6.signals.InvertedValue;
import com.ctre.phoenix6.signals.MotorAlignmentValue;
import com.team6962.lib.logging.CurrentDrawLogger;
import com.team6962.lib.phoenix.StatusUtil;
import dev.doglog.DogLog;
Expand All @@ -23,27 +25,39 @@
import edu.wpi.first.wpilibj2.command.SubsystemBase;

public class IntakeRollers extends SubsystemBase {
private TalonFX IntakeRollerMotor1;
private TalonFX IntakeRollerMotor2;
private TalonFX intakeMotor;
private StatusSignal<AngularVelocity> velocitySignal;
private StatusSignal<Current> statorCurrentSignal;
private StatusSignal<Current> supplyCurrentSignal;
private StatusSignal<Voltage> appliedVoltageSignal;
private IntakeRollerSim simulation;
private double intakeVoltage = 4.0;
private double intakeVoltage = 12.0;
private double intakeStallVoltage = 12.0;
private Debouncer stallDebouncer = new Debouncer(0.25, DebounceType.kRising);
private boolean stalling = false;

/** Intializes motor and status signals Class for Intake Rollers */
public IntakeRollers() {
this.intakeMotor =
new TalonFX(IntakeRollersConstants.DEVICE_ID, new CANBus("subsystems")); // temporary

intakeMotor.getConfigurator().apply(IntakeRollersConstants.MOTOR_CONFIGURATION);
this.velocitySignal = intakeMotor.getVelocity();
this.statorCurrentSignal = intakeMotor.getStatorCurrent();
this.supplyCurrentSignal = intakeMotor.getSupplyCurrent();
this.appliedVoltageSignal = intakeMotor.getMotorVoltage();
IntakeRollerMotor1 =
new TalonFX(IntakeRollersConstants.DEVICE_ID_1, IntakeRollersConstants.CANBUS);

IntakeRollerMotor1.getConfigurator().apply(IntakeRollersConstants.MOTOR_CONFIGURATION);

IntakeRollerMotor2 =
new TalonFX(IntakeRollersConstants.DEVICE_ID_2, IntakeRollersConstants.CANBUS);

IntakeRollersConstants.MOTOR_CONFIGURATION.MotorOutput.Inverted =
IntakeRollersConstants.MOTOR_CONFIGURATION.MotorOutput.Inverted
== InvertedValue.Clockwise_Positive
? InvertedValue.CounterClockwise_Positive
: InvertedValue.Clockwise_Positive;

this.velocitySignal = IntakeRollerMotor1.getVelocity();
this.statorCurrentSignal = IntakeRollerMotor1.getStatorCurrent();
this.supplyCurrentSignal = IntakeRollerMotor2.getSupplyCurrent();
this.appliedVoltageSignal = IntakeRollerMotor1.getMotorVoltage();
if (RobotBase.isSimulation()) {
simulation = new IntakeRollerSim(intakeMotor);
}
Expand All @@ -63,6 +77,12 @@ public IntakeRollers() {
});

CurrentDrawLogger.add("Intake Rollers", this::getSupplyCurrent);

IntakeRollerMotor2.setControl(
new Follower(IntakeRollerMotor1.getDeviceID(), MotorAlignmentValue.Opposed));
if (RobotBase.isSimulation()) {
simulation = new IntakeRollerSim(IntakeRollerMotor1);
}
}

/** Returns command to make the motor move and stop */
Expand Down Expand Up @@ -93,22 +113,6 @@ public Command intake() {
});
}

/**
* Returns command where motor intakes fuel at full speed. This should only be used when shooting
* fuel out of the robot with the intake is not a concern.
*
* @return The command to intake fuel at full speed.
*/
public Command intakeFast() {
return startEnd(
() -> {
intakeMotor.setControl(new VoltageOut(7).withEnableFOC(false));
},
() -> {
intakeMotor.setControl(new CoastOut());
});
}

/**
* Returns command where motor outtakes fuel
*
Expand Down
7 changes: 5 additions & 2 deletions src/main/java/frc/robot/subsystems/intakerollers/IntakeRollersConstants.java
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@

import static edu.wpi.first.units.Units.Amps;

import com.ctre.phoenix6.CANBus;
import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
import com.ctre.phoenix6.configs.FeedbackConfigs;
import com.ctre.phoenix6.configs.MotorOutputConfigs;
Expand All @@ -10,9 +11,11 @@
import com.ctre.phoenix6.signals.InvertedValue;

public class IntakeRollersConstants {
public static final double GEAR_RATIO = 32 / 18;
public static final double GEAR_RATIO = 15 / 27;
public static final double MOMENT_OF_INERTIA = 0.00074271944;
public static final int DEVICE_ID = 41;
public static final int DEVICE_ID_1 = 41;
public static final int DEVICE_ID_2 = 42; // Prob not Right
public static final CANBus CANBUS = new CANBus("subsystems");

public static final TalonFXConfiguration MOTOR_CONFIGURATION =
new TalonFXConfiguration()
Expand Down
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