From 66cb9b9896e1cd52b6909ef2aac533012632d023 Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 24 Dec 2024 13:14:03 +0200 Subject: [PATCH 1/8] added the constants for the intake --- .../java/frc/robot/subsystems/Intake.java | 9 ++++++ .../frc/robot/subsystems/IntakeCommands.java | 4 +++ .../frc/robot/subsystems/IntakeConstants.java | 29 +++++++++++++++++++ 3 files changed, 42 insertions(+) create mode 100644 src/main/java/frc/robot/subsystems/Intake.java create mode 100644 src/main/java/frc/robot/subsystems/IntakeCommands.java create mode 100644 src/main/java/frc/robot/subsystems/IntakeConstants.java diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java new file mode 100644 index 0000000..7260a64 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Intake.java @@ -0,0 +1,9 @@ +package frc.robot.subsystems; + + +import edu.wpi.first.wpilibj2.command.SubsystemBase; + +public class Intake extends SubsystemBase { + +} + diff --git a/src/main/java/frc/robot/subsystems/IntakeCommands.java b/src/main/java/frc/robot/subsystems/IntakeCommands.java new file mode 100644 index 0000000..e314870 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/IntakeCommands.java @@ -0,0 +1,4 @@ +package frc.robot.subsystems; + +public class IntakeCommands { +} diff --git a/src/main/java/frc/robot/subsystems/IntakeConstants.java b/src/main/java/frc/robot/subsystems/IntakeConstants.java new file mode 100644 index 0000000..10977bb --- /dev/null +++ b/src/main/java/frc/robot/subsystems/IntakeConstants.java @@ -0,0 +1,29 @@ +package frc.robot.subsystems; + +import com.ctre.phoenix.motorcontrol.NeutralMode; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; + +public class IntakeConstants { + private static final int + FIRST_INTAKE_MOTOR_ID = 1, + SECOND_INTAKE_MOTOR_ID = 2; + + static final WPI_TalonSRX + FIRST_INTAKE_MOTOR = new WPI_TalonSRX(FIRST_INTAKE_MOTOR_ID), + SECOND_INTAKE_MOTOR = new WPI_TalonSRX(SECOND_INTAKE_MOTOR_ID); + + private static final NeutralMode NEUTRAL_MODE = NeutralMode.Brake; + static { + configureFirstMotor(); + configureSecondMotor(); + } + + private static void configureFirstMotor() { + FIRST_INTAKE_MOTOR.configFactoryDefault(); + FIRST_INTAKE_MOTOR.setNeutralMode(NEUTRAL_MODE); + } + private static void configureSecondMotor() { + SECOND_INTAKE_MOTOR.configFactoryDefault(); + SECOND_INTAKE_MOTOR.setNeutralMode(NEUTRAL_MODE); + } +} From 9ef269feaecdfa9a6ff43214a4e6601beb680625 Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 24 Dec 2024 13:21:48 +0200 Subject: [PATCH 2/8] added a package --- src/main/java/frc/robot/subsystems/{ => Intake}/Intake.java | 2 +- src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java | 4 ++++ .../frc/robot/subsystems/{ => Intake}/IntakeConstants.java | 2 +- src/main/java/frc/robot/subsystems/IntakeCommands.java | 4 ---- 4 files changed, 6 insertions(+), 6 deletions(-) rename src/main/java/frc/robot/subsystems/{ => Intake}/Intake.java (73%) create mode 100644 src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java rename src/main/java/frc/robot/subsystems/{ => Intake}/IntakeConstants.java (96%) delete mode 100644 src/main/java/frc/robot/subsystems/IntakeCommands.java diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java similarity index 73% rename from src/main/java/frc/robot/subsystems/Intake.java rename to src/main/java/frc/robot/subsystems/Intake/Intake.java index 7260a64..787b7d7 100644 --- a/src/main/java/frc/robot/subsystems/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems; +package frc.robot.subsystems.Intake; import edu.wpi.first.wpilibj2.command.SubsystemBase; diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java new file mode 100644 index 0000000..e3f6dec --- /dev/null +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java @@ -0,0 +1,4 @@ +package frc.robot.subsystems.Intake; + +public class IntakeCommands { +} diff --git a/src/main/java/frc/robot/subsystems/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java similarity index 96% rename from src/main/java/frc/robot/subsystems/IntakeConstants.java rename to src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java index 10977bb..7c6fc4e 100644 --- a/src/main/java/frc/robot/subsystems/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java @@ -1,4 +1,4 @@ -package frc.robot.subsystems; +package frc.robot.subsystems.Intake; import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; diff --git a/src/main/java/frc/robot/subsystems/IntakeCommands.java b/src/main/java/frc/robot/subsystems/IntakeCommands.java deleted file mode 100644 index e314870..0000000 --- a/src/main/java/frc/robot/subsystems/IntakeCommands.java +++ /dev/null @@ -1,4 +0,0 @@ -package frc.robot.subsystems; - -public class IntakeCommands { -} From 5658962b00a4b44116da95876bf996a194240744 Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 31 Dec 2024 11:55:49 +0200 Subject: [PATCH 3/8] changed to one intake motor and added the missing configurations and made a command that sets the target voltage of the motor --- src/main/java/frc/robot/RobotContainer.java | 4 ++- .../frc/robot/subsystems/Intake/Intake.java | 9 +++++ .../subsystems/Intake/IntakeCommands.java | 14 ++++++++ .../subsystems/Intake/IntakeConstants.java | 34 +++++++++++++------ 4 files changed, 49 insertions(+), 12 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index f5ec171..99a6a04 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -7,11 +7,13 @@ import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; - +import frc.robot.subsystems.Intake.Intake; public class RobotContainer { + public static final Intake INTAKE = new Intake(); + public RobotContainer() { configureBindings(); diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 787b7d7..8cfcedf 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -1,9 +1,18 @@ package frc.robot.subsystems.Intake; +import com.ctre.phoenix.motorcontrol.ControlMode; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Intake extends SubsystemBase { + private final TalonSRX intakeMotor = IntakeConstants.INTAKE_MOTOR; + void stopMotor() { + + } + void setTargetVoltageOutput(double motorOutput) { + intakeMotor.set(ControlMode.PercentOutput, motorOutput); + } } diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java index e3f6dec..9d37d40 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java @@ -1,4 +1,18 @@ package frc.robot.subsystems.Intake; +import edu.wpi.first.wpilibj2.command.Command; +import edu.wpi.first.wpilibj2.command.StartEndCommand; +import frc.robot.RobotContainer; + public class IntakeCommands { + public static Command getSetTargetStateCommand(IntakeConstants.IntakeState targetState) { + return getSetMotorOutputCommand(targetState.targetMotorOutput); + } + private static Command getSetMotorOutputCommand(double motorOutput) { + return new StartEndCommand( + () -> RobotContainer.INTAKE.setTargetVoltageOutput(motorOutput), + RobotContainer.INTAKE::stopMotor, + RobotContainer.INTAKE + ); + } } diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java index 7c6fc4e..0142878 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java @@ -1,29 +1,41 @@ package frc.robot.subsystems.Intake; +import com.ctre.phoenix.motorcontrol.InvertType; import com.ctre.phoenix.motorcontrol.NeutralMode; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; public class IntakeConstants { private static final int - FIRST_INTAKE_MOTOR_ID = 1, - SECOND_INTAKE_MOTOR_ID = 2; + FIRST_INTAKE_MOTOR_ID = 5; - static final WPI_TalonSRX - FIRST_INTAKE_MOTOR = new WPI_TalonSRX(FIRST_INTAKE_MOTOR_ID), - SECOND_INTAKE_MOTOR = new WPI_TalonSRX(SECOND_INTAKE_MOTOR_ID); + static final WPI_TalonSRX INTAKE_MOTOR = new WPI_TalonSRX(FIRST_INTAKE_MOTOR_ID); private static final NeutralMode NEUTRAL_MODE = NeutralMode.Brake; + private static final InvertType INVERTED_VALUE = InvertType.None; + private static final double VOLTAGE_COMPENSATION_VALUE = 12; + static { configureFirstMotor(); - configureSecondMotor(); } private static void configureFirstMotor() { - FIRST_INTAKE_MOTOR.configFactoryDefault(); - FIRST_INTAKE_MOTOR.setNeutralMode(NEUTRAL_MODE); + INTAKE_MOTOR.configFactoryDefault(); + + INTAKE_MOTOR.setNeutralMode(NEUTRAL_MODE); + INTAKE_MOTOR.setInverted(INVERTED_VALUE); + INTAKE_MOTOR.enableVoltageCompensation(true); + INTAKE_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_VALUE); } - private static void configureSecondMotor() { - SECOND_INTAKE_MOTOR.configFactoryDefault(); - SECOND_INTAKE_MOTOR.setNeutralMode(NEUTRAL_MODE); + + public enum IntakeState { + COLLECT(0.5), + EJECT(-0.5), + REST(0); + + final double targetMotorOutput; + + IntakeState(double setIntakeState) { + this.targetMotorOutput = setIntakeState; + } } } From 87e0a1c0bacae0f071e06845008ae48f8e967292 Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 31 Dec 2024 12:33:49 +0200 Subject: [PATCH 4/8] implemented stopMotor and changed the name of First Intake Motor ID to Intake Motor ID and removed extra newlines and added missing newlines --- src/main/java/frc/robot/RobotContainer.java | 20 +++++++++---------- .../frc/robot/subsystems/Intake/Intake.java | 7 +++---- .../subsystems/Intake/IntakeCommands.java | 3 ++- .../subsystems/Intake/IntakeConstants.java | 9 ++++----- 4 files changed, 18 insertions(+), 21 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 99a6a04..6b6ff24 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -10,21 +10,19 @@ import frc.robot.subsystems.Intake.Intake; -public class RobotContainer -{ +public class RobotContainer { public static final Intake INTAKE = new Intake(); - public RobotContainer() - { + public RobotContainer() { configureBindings(); } - - - private void configureBindings() {} - - - public Command getAutonomousCommand() - { + + + private void configureBindings() { + } + + + public Command getAutonomousCommand() { return Commands.print("No autonomous command configured"); } } diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 8cfcedf..63d66b7 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -1,6 +1,5 @@ package frc.robot.subsystems.Intake; - import com.ctre.phoenix.motorcontrol.ControlMode; import com.ctre.phoenix.motorcontrol.can.TalonSRX; import edu.wpi.first.wpilibj2.command.SubsystemBase; @@ -9,10 +8,10 @@ public class Intake extends SubsystemBase { private final TalonSRX intakeMotor = IntakeConstants.INTAKE_MOTOR; void stopMotor() { - + setTargetVoltageOutput(0); } + void setTargetVoltageOutput(double motorOutput) { intakeMotor.set(ControlMode.PercentOutput, motorOutput); } -} - +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java index 9d37d40..3210757 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java @@ -8,6 +8,7 @@ public class IntakeCommands { public static Command getSetTargetStateCommand(IntakeConstants.IntakeState targetState) { return getSetMotorOutputCommand(targetState.targetMotorOutput); } + private static Command getSetMotorOutputCommand(double motorOutput) { return new StartEndCommand( () -> RobotContainer.INTAKE.setTargetVoltageOutput(motorOutput), @@ -15,4 +16,4 @@ private static Command getSetMotorOutputCommand(double motorOutput) { RobotContainer.INTAKE ); } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java index 0142878..9ec32d2 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java @@ -5,10 +5,9 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; public class IntakeConstants { - private static final int - FIRST_INTAKE_MOTOR_ID = 5; + private static final int INTAKE_MOTOR_ID = 5; - static final WPI_TalonSRX INTAKE_MOTOR = new WPI_TalonSRX(FIRST_INTAKE_MOTOR_ID); + static final WPI_TalonSRX INTAKE_MOTOR = new WPI_TalonSRX(INTAKE_MOTOR_ID); private static final NeutralMode NEUTRAL_MODE = NeutralMode.Brake; private static final InvertType INVERTED_VALUE = InvertType.None; @@ -34,8 +33,8 @@ public enum IntakeState { final double targetMotorOutput; - IntakeState(double setIntakeState) { - this.targetMotorOutput = setIntakeState; + IntakeState(double targetIntakeOutput) { + this.targetMotorOutput = targetIntakeOutput; } } } From 1f8c28d45350397dce196e9112de71f794a83b52 Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 31 Dec 2024 13:02:30 +0200 Subject: [PATCH 5/8] changed name of setTargetVoltage to setTargetVoltageOutput and changed name of targetIntakeOutput to targetOutput --- src/main/java/frc/robot/subsystems/Intake/Intake.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 63d66b7..8ebce3a 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -8,10 +8,10 @@ public class Intake extends SubsystemBase { private final TalonSRX intakeMotor = IntakeConstants.INTAKE_MOTOR; void stopMotor() { - setTargetVoltageOutput(0); + setTargetVoltagePercentOutput(0); } - void setTargetVoltageOutput(double motorOutput) { + void setTargetVoltagePercentOutput(double motorOutput) { intakeMotor.set(ControlMode.PercentOutput, motorOutput); } } \ No newline at end of file From eeebafa12630d8e60cc3b4336da47aa99b39966c Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 31 Dec 2024 13:02:59 +0200 Subject: [PATCH 6/8] forgot to commit this aswell was meant to be with the other commit --- .../java/frc/robot/subsystems/Intake/IntakeConstants.java | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java index 9ec32d2..0e87009 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java @@ -33,8 +33,8 @@ public enum IntakeState { final double targetMotorOutput; - IntakeState(double targetIntakeOutput) { - this.targetMotorOutput = targetIntakeOutput; + IntakeState(double targetOutput) { + this.targetMotorOutput = targetOutput; } } } From c176856026d8fa77fd853c01dd5babb9d44ca064 Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 31 Dec 2024 14:25:04 +0200 Subject: [PATCH 7/8] changed name of setTargetVoltageOutput to setTargetDutycycleOutput and changed name of target output to output --- src/main/java/frc/robot/subsystems/Intake/Intake.java | 4 ++-- src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java | 2 +- .../java/frc/robot/subsystems/Intake/IntakeConstants.java | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 8ebce3a..a8baac7 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -8,10 +8,10 @@ public class Intake extends SubsystemBase { private final TalonSRX intakeMotor = IntakeConstants.INTAKE_MOTOR; void stopMotor() { - setTargetVoltagePercentOutput(0); + setTargetDutyCycleOutput(0); } - void setTargetVoltagePercentOutput(double motorOutput) { + void setTargetDutyCycleOutput(double motorOutput) { intakeMotor.set(ControlMode.PercentOutput, motorOutput); } } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java index 3210757..999550e 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeCommands.java @@ -11,7 +11,7 @@ public static Command getSetTargetStateCommand(IntakeConstants.IntakeState targe private static Command getSetMotorOutputCommand(double motorOutput) { return new StartEndCommand( - () -> RobotContainer.INTAKE.setTargetVoltageOutput(motorOutput), + () -> RobotContainer.INTAKE.setTargetDutyCycleOutput(motorOutput), RobotContainer.INTAKE::stopMotor, RobotContainer.INTAKE ); diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java index 0e87009..cecf852 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java @@ -33,8 +33,8 @@ public enum IntakeState { final double targetMotorOutput; - IntakeState(double targetOutput) { - this.targetMotorOutput = targetOutput; + IntakeState(double Output) { + this.targetMotorOutput = Output; } } } From a0e93f53c545b6b8e1295a11073629b3a3516c50 Mon Sep 17 00:00:00 2001 From: noamgreen12 Date: Tue, 31 Dec 2024 19:34:33 +0200 Subject: [PATCH 8/8] removed extra new line changed name of motor to MOTOR and changed configfirstmotor to configmotor --- src/main/java/frc/robot/RobotContainer.java | 2 -- .../frc/robot/subsystems/Intake/Intake.java | 2 +- .../subsystems/Intake/IntakeConstants.java | 20 +++++++++---------- .../subsystems/Transporter/Transporter.java | 3 +-- 4 files changed, 12 insertions(+), 15 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 1ac950a..4300e97 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -10,8 +10,6 @@ import frc.robot.subsystems.Intake.Intake; import frc.robot.subsystems.Transporter.Transporter; - - public class RobotContainer { public static final Intake INTAKE = new Intake(); public static final Transporter TRANSPORTER = new Transporter(); diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index a8baac7..a561842 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -5,7 +5,7 @@ import edu.wpi.first.wpilibj2.command.SubsystemBase; public class Intake extends SubsystemBase { - private final TalonSRX intakeMotor = IntakeConstants.INTAKE_MOTOR; + private final TalonSRX intakeMotor = IntakeConstants.MOTOR; void stopMotor() { setTargetDutyCycleOutput(0); diff --git a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java index cecf852..875ad6e 100644 --- a/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java +++ b/src/main/java/frc/robot/subsystems/Intake/IntakeConstants.java @@ -5,25 +5,25 @@ import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; public class IntakeConstants { - private static final int INTAKE_MOTOR_ID = 5; + private static final int MOTOR_ID = 5; - static final WPI_TalonSRX INTAKE_MOTOR = new WPI_TalonSRX(INTAKE_MOTOR_ID); + static final WPI_TalonSRX MOTOR = new WPI_TalonSRX(MOTOR_ID); private static final NeutralMode NEUTRAL_MODE = NeutralMode.Brake; private static final InvertType INVERTED_VALUE = InvertType.None; private static final double VOLTAGE_COMPENSATION_VALUE = 12; static { - configureFirstMotor(); + configureMotor(); } - private static void configureFirstMotor() { - INTAKE_MOTOR.configFactoryDefault(); + private static void configureMotor() { + MOTOR.configFactoryDefault(); - INTAKE_MOTOR.setNeutralMode(NEUTRAL_MODE); - INTAKE_MOTOR.setInverted(INVERTED_VALUE); - INTAKE_MOTOR.enableVoltageCompensation(true); - INTAKE_MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_VALUE); + MOTOR.setNeutralMode(NEUTRAL_MODE); + MOTOR.setInverted(INVERTED_VALUE); + MOTOR.enableVoltageCompensation(true); + MOTOR.configVoltageCompSaturation(VOLTAGE_COMPENSATION_VALUE); } public enum IntakeState { @@ -37,4 +37,4 @@ public enum IntakeState { this.targetMotorOutput = Output; } } -} +} \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/Transporter/Transporter.java b/src/main/java/frc/robot/subsystems/Transporter/Transporter.java index 22ea6ae..31d2b6c 100644 --- a/src/main/java/frc/robot/subsystems/Transporter/Transporter.java +++ b/src/main/java/frc/robot/subsystems/Transporter/Transporter.java @@ -16,5 +16,4 @@ void setTargetPercentageVoltageOutput(double percentageMotorOutput) { rightMotor.set(ControlMode.PercentOutput, percentageMotorOutput); leftMotor.set(ControlMode.PercentOutput, percentageMotorOutput); } -} - +} \ No newline at end of file