Merge branch 'ShooterCalc' of https://github.com/Patribots4738/Cresce…

…ndo2024 into ShooterCalc
Patribots4738 · Jan 22, 2024 · c01bb57 · c01bb57
2 parents beb7716 + 3977d14
commit c01bb57
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Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -39,7 +39,7 @@ public Command stopCommand() {
     }
 
     public Trigger hasGamePieceTrigger() {
-        return new Trigger(() -> (intake.getOutputCurrent() <= 7.0));
+        return new Trigger(() -> (intake.getOutputCurrent() > IntakeConstants.HAS_PIECE_CURRENT_THRESHOLD));
     }
 
 }

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -287,6 +287,8 @@ public static final class IntakeConstants {
 
         public static final int INTAKE_FREE_CURRENT_LIMIT_AMPS = 15;
         public static final int INTAKE_STALL_CURRENT_LIMIT_AMPS = 7;
+
+        public static final int HAS_PIECE_CURRENT_THRESHOLD = 20;
     }
 
     public static final class FieldConstants {