From 5d5d410d8605beac2e777e1be967c9c1dcfc1d0e Mon Sep 17 00:00:00 2001 From: TheRealGrayden Date: Sat, 7 Mar 2026 14:59:32 -0500 Subject: [PATCH] Intake Change --- src/main/java/frc/robot/Constants.java | 5 +- .../frc/robot/subsystems/IntakeSubsystem.java | 27 ++++---- vendordeps/AdvantageKit.json | 6 +- vendordeps/ChoreoLib2026.json | 6 +- ...enix6-26.1.0.json => Phoenix6-26.1.1.json} | 62 +++++++++---------- 5 files changed, 52 insertions(+), 54 deletions(-) rename vendordeps/{Phoenix6-26.1.0.json => Phoenix6-26.1.1.json} (92%) diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java index aefd7c5..428794b 100644 --- a/src/main/java/frc/robot/Constants.java +++ b/src/main/java/frc/robot/Constants.java @@ -66,9 +66,8 @@ public final class Constants { } public static class IntakeConstants { - public static final int EXTEND_CHANNEL = 0; - public static final int RETRACT_CHANNEL = 1; - public static final int INTAKE_MOTOR_ID = 2; + public static final int DEPLOY_MOTOR_ID = 0; + public static final int INTAKE_MOTOR_ID = 1; } public static class ShooterConstants { diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index ad0381d..0152758 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -7,40 +7,43 @@ package frc.robot.subsystems; import org.fairportrobotics.frc.posty.TestableSubsystem; import org.fairportrobotics.frc.posty.test.PostTest; +import com.ctre.phoenix.motorcontrol.can.TalonSRX; +import com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX; import com.ctre.phoenix6.hardware.TalonFX; import frc.robot.Constants; import static org.fairportrobotics.frc.posty.assertions.Assertions.*; +import edu.wpi.first.hal.FRCNetComm.tInstances; import edu.wpi.first.wpilibj.DigitalOutput; import edu.wpi.first.wpilibj2.command.Command; public class IntakeSubsystem extends TestableSubsystem { /** Creates a new ExampleSubsystem. */ + + private TalonFX intakeMotor; + private WPI_TalonSRX deployMotor; + public IntakeSubsystem() { - extendRelay = new DigitalOutput(Constants.IntakeConstants.EXTEND_CHANNEL); - retractRelay = new DigitalOutput(Constants.IntakeConstants.RETRACT_CHANNEL); intakeMotor = new TalonFX(Constants.IntakeConstants.INTAKE_MOTOR_ID); - retractRelay.set(false); - extendRelay.set(false); + deployMotor = new WPI_TalonSRX(Constants.IntakeConstants.DEPLOY_MOTOR_ID); } public void neutral() { - retractRelay.set(false); - extendRelay.set(false); + deployMotor.set(0); } public void extend() { - retractRelay.set(false); - extendRelay.set(true); + deployMotor.set(1); + } public void retract() { - extendRelay.set(false); - retractRelay.set(true); + deployMotor.set(-1); + } public void setSpeed(double speed) @@ -48,10 +51,6 @@ public class IntakeSubsystem extends TestableSubsystem { intakeMotor.set(speed); } - private DigitalOutput extendRelay; - private DigitalOutput retractRelay; - private TalonFX intakeMotor; - /** * Example command factory method. * diff --git a/vendordeps/AdvantageKit.json b/vendordeps/AdvantageKit.json index 162ad66..868ae9d 100644 --- a/vendordeps/AdvantageKit.json +++ b/vendordeps/AdvantageKit.json @@ -1,7 +1,7 @@ { "fileName": "AdvantageKit.json", "name": "AdvantageKit", - "version": "26.0.0", + "version": "26.0.1", "uuid": "d820cc26-74e3-11ec-90d6-0242ac120003", "frcYear": "2026", "mavenUrls": [ @@ -12,14 +12,14 @@ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-java", - "version": "26.0.0" + "version": "26.0.1" } ], "jniDependencies": [ { "groupId": "org.littletonrobotics.akit", "artifactId": "akit-wpilibio", - "version": "26.0.0", + "version": "26.0.1", "skipInvalidPlatforms": false, "isJar": false, "validPlatforms": [ diff --git a/vendordeps/ChoreoLib2026.json b/vendordeps/ChoreoLib2026.json index aa5ea0f..4875107 100644 --- a/vendordeps/ChoreoLib2026.json +++ b/vendordeps/ChoreoLib2026.json @@ -1,7 +1,7 @@ { "fileName": "ChoreoLib2026.json", "name": "ChoreoLib", - "version": "2026.0.0", + "version": "2026.0.2", "uuid": "b5e23f0a-dac9-4ad2-8dd6-02767c520aca", "frcYear": "2026", "mavenUrls": [ @@ -13,7 +13,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-java", - "version": "2026.0.0" + "version": "2026.0.2" }, { "groupId": "com.google.code.gson", @@ -26,7 +26,7 @@ { "groupId": "choreo", "artifactId": "ChoreoLib-cpp", - "version": "2026.0.0", + "version": "2026.0.2", "libName": "ChoreoLib", "headerClassifier": "headers", "sharedLibrary": false, diff --git a/vendordeps/Phoenix6-26.1.0.json b/vendordeps/Phoenix6-26.1.1.json similarity index 92% rename from vendordeps/Phoenix6-26.1.0.json rename to vendordeps/Phoenix6-26.1.1.json index dc5dc62..7a0eca0 100644 --- a/vendordeps/Phoenix6-26.1.0.json +++ b/vendordeps/Phoenix6-26.1.1.json @@ -1,7 +1,7 @@ { - "fileName": "Phoenix6-26.1.0.json", + "fileName": "Phoenix6-26.1.1.json", "name": "CTRE-Phoenix (v6)", - "version": "26.1.0", + "version": "26.1.1", "frcYear": "2026", "uuid": "e995de00-2c64-4df5-8831-c1441420ff19", "mavenUrls": [ @@ -19,14 +19,14 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-java", - "version": "26.1.0" + "version": "26.1.1" } ], "jniDependencies": [ { "groupId": "com.ctre.phoenix6", "artifactId": "api-cpp", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -40,7 +40,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -54,7 +54,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "api-cpp-sim", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -68,7 +68,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -82,7 +82,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -96,7 +96,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -110,7 +110,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -124,7 +124,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -138,7 +138,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -152,7 +152,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -166,7 +166,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -180,7 +180,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -194,7 +194,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -208,7 +208,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.1", "isJar": false, "skipInvalidPlatforms": true, "validPlatforms": [ @@ -224,7 +224,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "wpiapi-cpp", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_Phoenix6_WPI", "headerClassifier": "headers", "sharedLibrary": true, @@ -240,7 +240,7 @@ { "groupId": "com.ctre.phoenix6", "artifactId": "tools", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_PhoenixTools", "headerClassifier": "headers", "sharedLibrary": true, @@ -256,7 +256,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "wpiapi-cpp-sim", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_Phoenix6_WPISim", "headerClassifier": "headers", "sharedLibrary": true, @@ -272,7 +272,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "tools-sim", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_PhoenixTools_Sim", "headerClassifier": "headers", "sharedLibrary": true, @@ -288,7 +288,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simTalonSRX", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimTalonSRX", "headerClassifier": "headers", "sharedLibrary": true, @@ -304,7 +304,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simVictorSPX", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimVictorSPX", "headerClassifier": "headers", "sharedLibrary": true, @@ -320,7 +320,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simPigeonIMU", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimPigeonIMU", "headerClassifier": "headers", "sharedLibrary": true, @@ -336,7 +336,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFX", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProTalonFX", "headerClassifier": "headers", "sharedLibrary": true, @@ -352,7 +352,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProTalonFXS", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProTalonFXS", "headerClassifier": "headers", "sharedLibrary": true, @@ -368,7 +368,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANcoder", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANcoder", "headerClassifier": "headers", "sharedLibrary": true, @@ -384,7 +384,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProPigeon2", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProPigeon2", "headerClassifier": "headers", "sharedLibrary": true, @@ -400,7 +400,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANrange", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANrange", "headerClassifier": "headers", "sharedLibrary": true, @@ -416,7 +416,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdi", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANdi", "headerClassifier": "headers", "sharedLibrary": true, @@ -432,7 +432,7 @@ { "groupId": "com.ctre.phoenix6.sim", "artifactId": "simProCANdle", - "version": "26.1.0", + "version": "26.1.1", "libName": "CTRE_SimProCANdle", "headerClassifier": "headers", "sharedLibrary": true,