feat(intake): Improve eject sequence.

Gongoliers · Apr 10, 2024 · ae4dccc · ae4dccc
1 parent 68d3c6d
commit ae4dccc
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Showing 3 changed files with 8 additions and 2 deletions.
diff --git a/src/main/java/frc/robot/intake/IntakeConstants.java b/src/main/java/frc/robot/intake/IntakeConstants.java
@@ -32,6 +32,8 @@ public static class FrontRollerConstants {
 
     public static final double INTAKE_SPEED = 34;
 
+    public static final double EJECT_SPEED = -34;
+
     /** Maximum speed of the roller in rotations per second. */
     public static final double MAXIMUM_SPEED = 67;
   }
@@ -62,6 +64,8 @@ public static class BackRollerConstants {
 
     public static final double INTAKE_SPEED = 34;
 
+    public static final double EJECT_SPEED = -34;
+
     /** Maximum speed of the roller in rotations per second. */
     public static final double MAXIMUM_SPEED = 67;
   }

diff --git a/src/main/java/frc/robot/intake/IntakeState.java b/src/main/java/frc/robot/intake/IntakeState.java
@@ -13,6 +13,8 @@ public record IntakeState(
 
   public static final IntakeState INTAKE = new IntakeState(FrontRollerConstants.INTAKE_SPEED, BackRollerConstants.INTAKE_SPEED);
 
+  public static final IntakeState EJECT = new IntakeState(FrontRollerConstants.EJECT_SPEED, BackRollerConstants.EJECT_SPEED);
+
   public IntakeState {
     Objects.requireNonNull(frontRollerVelocityRotationsPerSecond);
     Objects.requireNonNull(backRollerVelocityRotationsPerSecond);

diff --git a/src/main/java/frc/robot/superstructure/SuperstructureState.java b/src/main/java/frc/robot/superstructure/SuperstructureState.java
@@ -22,10 +22,10 @@ public record SuperstructureState(
       new SuperstructureState(ArmState.STOW, IntakeState.INTAKE, ShooterState.INTAKE);
 
   public static final SuperstructureState EJECT_POSITION =
-      new SuperstructureState(ArmState.EJECT, IntakeState.IDLE, ShooterState.IDLE);
+      new SuperstructureState(ArmState.EJECT, IntakeState.EJECT, ShooterState.IDLE);
 
   public static final SuperstructureState EJECT =
-      new SuperstructureState(ArmState.EJECT, IntakeState.IDLE, ShooterState.EJECT);
+      new SuperstructureState(ArmState.EJECT, IntakeState.EJECT, ShooterState.EJECT);
 
   public static final SuperstructureState SPEAKER_PULL =
       new SuperstructureState(ArmState.SPEAKER, IntakeState.IDLE, ShooterState.PULL);