fix(intake): Configure rollers.

Gongoliers · Apr 8, 2024 · fbe8372 · fbe8372
1 parent 503f188
commit fbe8372
Show file tree

Hide file tree

Showing 2 changed files with 21 additions and 3 deletions.
diff --git a/src/main/java/frc/robot/intake/Intake.java b/src/main/java/frc/robot/intake/Intake.java
@@ -5,8 +5,9 @@
 import frc.lib.Subsystem;
 import frc.lib.Telemetry;
 import frc.lib.controller.VelocityControllerIO;
-import frc.lib.controller.VelocityControllerIO.VelocityControllerIOConstants;
 import frc.lib.controller.VelocityControllerIO.VelocityControllerIOValues;
+import frc.robot.intake.IntakeConstants.BackRollerConstants;
+import frc.robot.intake.IntakeConstants.FrontRollerConstants;
 
 /** Subsystem class for the intake subsystem. */
 public class Intake extends Subsystem {
@@ -24,11 +25,11 @@ public class Intake extends Subsystem {
   private Intake() {
     frontRoller = IntakeFactory.createFrontRoller();
     frontRollerValues = new VelocityControllerIOValues();
-    frontRoller.configure(new VelocityControllerIOConstants());
+    frontRoller.configure(FrontRollerConstants.CONTROLLER_CONSTANTS);
 
     backRoller = IntakeFactory.createBackRoller();
     backRollerValues = new VelocityControllerIOValues();
-    backRoller.configure(new VelocityControllerIOConstants());
+    backRoller.configure(BackRollerConstants.CONTROLLER_CONSTANTS);
   }
 
   /**

diff --git a/src/main/java/frc/robot/intake/IntakeConstants.java b/src/main/java/frc/robot/intake/IntakeConstants.java
@@ -2,6 +2,7 @@
 
 import frc.lib.CAN;
 import frc.lib.PIDFConstants;
+import frc.lib.controller.VelocityControllerIO.VelocityControllerIOConstants;
 
 /** Constants for the intake subsystem. */
 public class IntakeConstants {
@@ -16,6 +17,14 @@ public static class FrontRollerConstants {
       PIDF.kS = 0.13;
       PIDF.kV = 0.1683;
     }
+
+    /** Front roller's controller constants. */
+    public static final VelocityControllerIOConstants CONTROLLER_CONSTANTS = new VelocityControllerIOConstants();
+    static {
+      CONTROLLER_CONSTANTS.ccwPositive = false;
+      CONTROLLER_CONSTANTS.neutralBrake = true;
+      CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;
+    }
   }
 
   /** Constants for the back roller. */
@@ -29,6 +38,14 @@ public static class BackRollerConstants {
       PIDF.kS = 0.13;
       PIDF.kV = 0.1759;
     }
+
+    /** Back roller's controller constants. */
+    public static final VelocityControllerIOConstants CONTROLLER_CONSTANTS = new VelocityControllerIOConstants();
+    static {
+      CONTROLLER_CONSTANTS.ccwPositive = false;
+      CONTROLLER_CONSTANTS.neutralBrake = true;
+      CONTROLLER_CONSTANTS.sensorToMechanismRatio = 24.0 / 16.0;
+    }
   }
 
   /** Constants for the roller motor. */