inital intake testing

src/main/kotlin/com/team4099/robot2023/BuildConstants.kt

@@ -6,10 +6,10 @@ package com.team4099.robot2023
 const val MAVEN_GROUP = ""
 const val MAVEN_NAME = "Crescendo-2024"
 const val VERSION = "unspecified"
-const val GIT_REVISION = 251
-const val GIT_SHA = "1a5cd691b3825fd1b825b86600fe50624c599ae9"
-const val GIT_DATE = "2024-02-12T13:14:04Z"
+const val GIT_REVISION = 252
+const val GIT_SHA = "a75415924e15957e6eab7634a96897602bd09639"
+const val GIT_DATE = "2024-02-12T21:30:20Z"
 const val GIT_BRANCH = "main"
-const val BUILD_DATE = "2024-02-12T21:26:42Z"
-const val BUILD_UNIX_TIME = 1707791202834L
+const val BUILD_DATE = "2024-02-13T20:34:06Z"
+const val BUILD_UNIX_TIME = 1707874446982L
 const val DIRTY = 1

src/main/kotlin/com/team4099/robot2023/RobotContainer.kt

@@ -64,7 +64,7 @@ object RobotContainer {
           //        CameraIONorthstar("backward")
         )
       limelight = LimelightVision(object : LimelightVisionIO {})
-      intake = Intake(object: IntakeIO {})
+      intake = Intake(IntakeIONEO)
       feeder = Feeder(FeederIONeo)
       elevator = Elevator(ElevatorIONEO)
       flywheel = Flywheel(FlywheelIOTalon)

src/main/kotlin/com/team4099/robot2023/config/constants/Constants.kt

@@ -130,8 +130,8 @@ object Constants {
   }
 
   object Intake {
-    const val ROLLER_MOTOR_ID = 32
-    const val ARM_MOTOR_ID = 31
+    const val ROLLER_MOTOR_ID = 31
+    const val CENTER_MOTOR_ID = 32
     const val REV_ENCODER_PORT = 7
   }
 

src/main/kotlin/com/team4099/robot2023/config/constants/IntakeConstants.kt

@@ -18,7 +18,7 @@ object IntakeConstants {
   val IDLE_ROLLER_VOLTAGE = 1.0.volts
 
   val IDLE_CENTER_WHEEL_VOLTAGE = 0.0.volts
-  val INTAKE_ROLLER_VOLTAGE = 10.volts
+  val INTAKE_ROLLER_VOLTAGE = -9.volts
   val INTAKE_CENTER_WHEEL_VOLTAGE = 10.volts
   val OUTTAKE_ROLLER_VOLTAGE = (-10).volts
   val OUTTAKE_CENTER_WHEEL_VOLTAGE = (-10).volts

src/main/kotlin/com/team4099/robot2023/subsystems/feeder/Feeder.kt

@@ -97,7 +97,7 @@ class Feeder(val io: FeederIO) : SubsystemBase() {
   var lastBeamState = false
   val hasNote: Boolean
     get() {
-      return true
+      return false
       /*
       return (inputs.beamBroken &&
         Clock.fpgaTime - firstTripBeamBreakTime > FeederConstants.BEAM_BREAK_WAIT_TIME) || inputs.isSimulated

src/main/kotlin/com/team4099/robot2023/subsystems/intake/IntakeIONEO.kt

@@ -26,8 +26,10 @@ object IntakeIONEO : IntakeIO {
       rollerSparkMax, IntakeConstants.ROLLER_GEAR_RATIO, IntakeConstants.VOLTAGE_COMPENSATION
     )
 
-  private val centerWheelSparkMax =
+  /*private val centerWheelSparkMax =
     CANSparkMax(Constants.Intake.ROLLER_MOTOR_ID, CANSparkMaxLowLevel.MotorType.kBrushless)
+   */
+
 
   private val centerWheelSensor =
     sparkMaxAngularMechanismSensor(
@@ -57,6 +59,7 @@ object IntakeIONEO : IntakeIO {
         90.celsius
       ),
     )
+    /*
 
     centerWheelSparkMax.restoreFactoryDefaults()
     centerWheelSparkMax.clearFaults()
@@ -68,6 +71,7 @@ object IntakeIONEO : IntakeIO {
     centerWheelSparkMax.idleMode = CANSparkMax.IdleMode.kCoast
 
     centerWheelSparkMax.burnFlash()
+     */
 
     MotorChecker.add(
       "Intake",
@@ -96,13 +100,17 @@ object IntakeIONEO : IntakeIO {
     inputs.rollerTemp = rollerSparkMax.motorTemperature.celsius
 
     inputs.centerWheelVelocity = centerWheelSensor.velocity
+
+    /*
     inputs.centerWheelAppliedVotlage =
       centerWheelSparkMax.busVoltage.volts * centerWheelSparkMax.appliedOutput
     inputs.centerWheelStatorCurrent = centerWheelSparkMax.outputCurrent.amps
 
     inputs.centerWheelSupplyCurrent =
       inputs.centerWheelStatorCurrent * centerWheelSparkMax.appliedOutput.absoluteValue
     inputs.centerWheelTemp = centerWheelSparkMax.motorTemperature.celsius
+
+     */
   }
 
   /**
@@ -122,7 +130,7 @@ object IntakeIONEO : IntakeIO {
       )
         .inVolts
     )
-
+    /*
     centerWheelSparkMax.setVoltage(
       clamp(
         centerWheelVoltage,
@@ -131,6 +139,8 @@ object IntakeIONEO : IntakeIO {
       )
         .inVolts
     )
+
+     */
   }
 
   /**
@@ -145,10 +155,13 @@ object IntakeIONEO : IntakeIO {
       rollerSparkMax.idleMode = CANSparkMax.IdleMode.kCoast
     }
 
+    /*
     if (centerWheelBrake) {
       centerWheelSparkMax.idleMode = CANSparkMax.IdleMode.kBrake
     } else {
       centerWheelSparkMax.idleMode = CANSparkMax.IdleMode.kCoast
     }
+
+     */
   }
 }

src/main/kotlin/com/team4099/robot2023/subsystems/superstructure/Superstructure.kt

@@ -20,6 +20,7 @@ import org.team4099.lib.units.base.inSeconds
 import org.team4099.lib.units.base.inches
 import org.team4099.lib.units.base.meters
 import org.team4099.lib.units.derived.degrees
+import org.team4099.lib.units.derived.volts
 
 class Superstructure(
   private val intake: Intake,
@@ -237,6 +238,7 @@ class Superstructure(
           )
         feeder.currentRequest =
           Request.FeederRequest.OpenLoopIntake(Feeder.TunableFeederStates.intakeVoltage.get())
+        flywheel.currentRequest = Request.FlywheelRequest.OpenLoop(2.volts)
         if (feeder.hasNote) {
           currentRequest = Request.SuperstructureRequest.Idle()
           nextState = SuperstructureStates.IDLE

src/main/kotlin/com/team4099/robot2023/subsystems/wrist/Wrist.kt

@@ -315,14 +315,17 @@ class Wrist(val io: WristIO) : SubsystemBase() {
   }
 
   val isAtTargetedPosition: Boolean
-    get() =
+    get() = true
+      /*
       (
         currentState == WristStates.TARGETING_POSITION &&
           wristProfile.isFinished(Clock.fpgaTime - timeProfileGeneratedAt) &&
           (inputs.wristPosition - wristPositionTarget).absoluteValue <=
           WristConstants.WRIST_TOLERANCE
         )
 
+       */
+
   fun setWristVoltage(appliedVoltage: ElectricalPotential) {
     io.setWristVoltage(appliedVoltage)
   }