added intake #6
added intake #6
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closes #1 |
cam5028
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cam5028
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As mentioned you want to replace the the rev SparkMax controllers with CTRE TalonFX controllers. they are similar in that they both require CANIDs. but the method (functions) calls are different so you will have to look and compare the java docs to see what to use..
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Attempted to redo the intake subsystem with CTRE instead of the sparkmax stuff |
| telemetry.telemetrizeIntake(getCurrentVelocity()); | ||
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| public double getCurrentVelocity() { |
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You have a method that returns a double but the return value performs a multiplication operation using a Double (Object data types) and a double (primitive data type) return motorVelocity * 60.0. While this is ok because of something called "auto-unboxing " be cautious of relying on implicit functions rather that explicit ones when starting off. What happens when you remove the multiplication operation? (try it).
| telemetry.telemetrizeIntake(getCurrentVelocity()); | ||
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| public double getCurrentVelocity() { |
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getCurrentVelocity may be confused with the word "Current" as that is also used in this same class to define electrical current (SupplyCurrentLimit) whereas this appears to be as an adjective. If so, suggest removing "Current" from method name
| public void intake() { | ||
| // Starts the Motor | ||
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| intakeMotorController.set(-1); |
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CTRE's Phoenix 6 API now requires the use of "Control request" to now set outputs to their devices. https://v6.docs.ctr-electronics.com/en/2025/docs/api-reference/api-usage/control-requests.html
Please take a look at the examples and update as needed. You can use the same simulation tool to test as you did before
cam5028
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Overall nice job! I will recommend that you looko ver the Style.md file provided in the repo: https://github.com/FRC1740/2026-Robot/blob/main/STYLE.md
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added intake using sparkmax not the other one.