more fixes

Signed-off-by: Jade Turner <[email protected]>
CurtinFRC · Jan 24, 2025 · f93695f · f93695f
1 parent 980a48c
commit f93695f
Show file tree

Hide file tree

Showing 3 changed files with 11 additions and 5 deletions.
diff --git a/src/main/java/org/curtinfrc/frc2025/subsystems/intake/IntakeConstants.java b/src/main/java/org/curtinfrc/frc2025/subsystems/intake/IntakeConstants.java
@@ -4,6 +4,7 @@ public class IntakeConstants {
   public static double intakeVolts = 8;
   public static int intakeCurrentLimit = 40;
   public static double motorReduction = 1.0;
+  public static double intakeMoi = 1.0;
   public static int intakeMotorId = 99;
   public static int intakeFrontSensorPort = 99;
   public static int intakeBackSensorPort = 99;

diff --git a/src/main/java/org/curtinfrc/frc2025/subsystems/intake/IntakeIONEO.java b/src/main/java/org/curtinfrc/frc2025/subsystems/intake/IntakeIONEO.java
@@ -4,15 +4,19 @@
 
 import com.revrobotics.spark.SparkLowLevel.MotorType;
 import com.revrobotics.spark.SparkMax;
+import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
+import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.wpilibj.DigitalInput;
 
 public class IntakeIONEO implements IntakeIO {
   private final SparkMax intakeNeo = new SparkMax(intakeMotorId, MotorType.kBrushless);
   private final DigitalInput frontSensor = new DigitalInput(intakeFrontSensorPort);
   private final DigitalInput backSensor = new DigitalInput(intakeBackSensorPort);
 
-  // TODO apply configs
-  public IntakeIONEO() {}
+  public IntakeIONEO() {
+    SparkMaxConfig config = new SparkMaxConfig();
+    config.smartCurrentLimit(0, intakeCurrentLimit).idleMode(IdleMode.kCoast);
+  }
 
   @Override
   public void updateInputs(IntakeIOInputs inputs) {

diff --git a/src/main/java/org/curtinfrc/frc2025/subsystems/intake/IntakeIOSim.java b/src/main/java/org/curtinfrc/frc2025/subsystems/intake/IntakeIOSim.java
@@ -1,7 +1,6 @@
 package org.curtinfrc.frc2025.subsystems.intake;
 
-import static org.curtinfrc.frc2025.subsystems.intake.IntakeConstants.intakeBackSensorPort;
-import static org.curtinfrc.frc2025.subsystems.intake.IntakeConstants.intakeFrontSensorPort;
+import static org.curtinfrc.frc2025.subsystems.intake.IntakeConstants.*;
 
 import edu.wpi.first.hal.SimBoolean;
 import edu.wpi.first.hal.SimDevice;
@@ -21,7 +20,9 @@ public class IntakeIOSim implements IntakeIO {
 
   public IntakeIOSim() {
     intakeMotorSim =
-        new DCMotorSim(LinearSystemId.createDCMotorSystem(intakeMotor, 0.025, 4.0), intakeMotor);
+        new DCMotorSim(
+            LinearSystemId.createDCMotorSystem(intakeMotor, intakeMoi, motorReduction),
+            intakeMotor);
 
     frontImpl = SimDevice.create("IntakeSensorFront", intakeFrontSensorPort);
     frontSensor = frontImpl.createBoolean("IsTriggered", Direction.kInput, false);