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Change clean intake/eject to a PID command #57

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Change clean intake/eject to a PID command #57

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23 changes: 3 additions & 20 deletions src/main/java/frc/robot/commands/Teleop/CleanIntake.java
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Original file line number Diff line number Diff line change
Expand Up @@ -29,31 +29,14 @@ public CleanIntake(PivotIntake intakePivot, Intake intake) {
// Called when the command is initially scheduled.
@Override
public void initialize() {
isReversed = false;
if (intakePivot.getPosition() < Constants.IntakeConstants.CLEAN) {
intakePivot.setHingePower(Constants.IntakeConstants.PIVOT_IN_SPEED);
} else {
isReversed = true;
intakePivot.setHingePower(-Constants.IntakeConstants.PIVOT_IN_SPEED);
}
intakePivot.goToClean();
intake.setRollerPower(-Constants.IntakeConstants.ROLLER_SPEED_CLEAN);
}

// can be improved tolerance with PID
// Called every time the scheduler runs while the command is scheduled.
@Override
public void execute() {
if (isReversed) {
if (intakePivot.getPosition() < Constants.IntakeConstants.CLEAN) {
intakePivot.setHingePower(0);
intake.setRollerPower(-Constants.IntakeConstants.ROLLER_SPEED_CLEAN);
}
} else {
if (intakePivot.getPosition() > Constants.IntakeConstants.CLEAN) {
intakePivot.setHingePower(0);
intake.setRollerPower(-Constants.IntakeConstants.ROLLER_SPEED_CLEAN);
}
}
}
public void execute() {}

// Called once the command ends or is interrupted.
@Override
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4 changes: 4 additions & 0 deletions src/main/java/frc/robot/subsystems/PivotIntake.java
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,10 @@ public void liftIntake() {
public void dropIntake() {
hinge.set(ControlMode.Position, Constants.IntakeConstants.DROPPED);
}

public void goToClean() {
hinge.set(ControlMode.Position, Constants.IntakeConstants.CLEAN);
}

public void setEncoderPos(double position) {
hinge.setSelectedSensorPosition(position);
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