From 1280197ccfeeb801392188a684fc5f3fb7628947 Mon Sep 17 00:00:00 2001 From: Team578 Driver Station Date: Fri, 17 Apr 2026 18:14:44 -0400 Subject: [PATCH] Vibrations --- src/main/java/frc/robot/RobotContainer.java | 5 +++-- src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 6 +++++- 2 files changed, 8 insertions(+), 3 deletions(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index e4d1052..1cd86d1 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -5,6 +5,7 @@ package frc.robot; import com.pathplanner.lib.auto.NamedCommands; +import edu.wpi.first.wpilibj.GenericHID.RumbleType; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import edu.wpi.first.wpilibj2.command.button.CommandXboxController; @@ -55,7 +56,7 @@ public class RobotContainer { configureBindings(); NamedCommands.registerCommand("ChassisAlignShoot", new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); - NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake()); + NamedCommands.registerCommand("RunIntake", intakeSubsystem.intake(m_driverController.getHID())); NamedCommands.registerCommand("TurretShoot", new AutoTurretShootCommand(hopperSubsystem, turretSubsystem, intakeSubsystem, driveSubsystem)); turretSubsystem.setDefaultCommand(new AutoTurretCommand(turretSubsystem, driveSubsystem)); @@ -80,7 +81,7 @@ public class RobotContainer { //m_driverController.back().whileTrue(new AutoShootCommandChassisTurretPathPlanner(driveSubsystem, hopperSubsystem, turretSubsystem)); m_driverController.leftBumper().onTrue(Commands.runOnce(() -> turretSubsystem.homeTurret(), turretSubsystem)); - m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake())); + m_driverController.rightBumper().onTrue(Commands.parallel(intakeSubsystem.intake(m_driverController.getHID()))); //m_driverController.a().whileTrue(new RelayCommand(hopperSubsystem, turretSubsystem, intakeSubsystem)); m_driverController.start().whileTrue(intakeSubsystem.resetDeploy()); // m_driverController.x().toggleOnTrue(new AutoShootCommandChassisTurret(driveSubsystem, hopperSubsystem, turretSubsystem)); diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 9f7bb3c..2d49c8f 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -13,6 +13,8 @@ import com.ctre.phoenix.motorcontrol.LimitSwitchSource; import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix6.hardware.TalonFX; +import edu.wpi.first.wpilibj.XboxController; +import edu.wpi.first.wpilibj.GenericHID.RumbleType; import edu.wpi.first.wpilibj2.command.Command; import edu.wpi.first.wpilibj2.command.Commands; import frc.robot.Constants; @@ -64,12 +66,14 @@ public class IntakeSubsystem extends TestableSubsystem { }); } - public Command intake() { + public Command intake(XboxController m_XboxController) { return this.runOnce(() -> { if (intakeMotor.get() == 0) { setSpeed(-.5); + m_XboxController.setRumble(RumbleType.kBothRumble, .5); } else { intakeMotor.stopMotor(); + m_XboxController.setRumble(RumbleType.kBothRumble, .0); } }); }