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Team3256 · Oct 31, 2024 · 81105fa · 81105fa
1 parent 2453cb4
commit 81105fa
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Showing 2 changed files with 35 additions and 30 deletions.
diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -24,32 +24,36 @@
 public class Intake
     extends DisableSubsystem { // note for me later - this has also controls the redirect roller
   private final SingleMotorSubsystemIO intakeIO;
-  private final SingleMotorSubsystemInputsAutoLogged intakeIOAutoLogged = new SingleMotorSubsystemInputsAutoLogged();
+  private final SingleMotorSubsystemInputsAutoLogged intakeIOAutoLogged =
+      new SingleMotorSubsystemInputsAutoLogged();
   private final SysIdRoutine intake_sysIdRoutine;
 
   private final Trigger debouncedBeamBreak = new Trigger(this::isBeamBroken).debounce(0.1);
 
   private final BeamBreakIO beamBreakIO;
-  private final BeamBreakIOInputsAutoLogged beamBreakIOAutoLogged = new BeamBreakIOInputsAutoLogged();
+  private final BeamBreakIOInputsAutoLogged beamBreakIOAutoLogged =
+      new BeamBreakIOInputsAutoLogged();
 
   public Intake(boolean disabled, SingleMotorSubsystemIO intakeIO, BeamBreakIO beamBreakIO) {
     super(disabled);
 
     this.intakeIO = intakeIO;
     this.beamBreakIO = beamBreakIO;
-    intake_sysIdRoutine = new SysIdRoutine(
-        new SysIdRoutine.Config(
-            Volts.of(0.2).per(Seconds.of(1)), // Use default ramp rate (1 V/s)
-            Volts.of(6), // Reduce dynamic step voltage to 4 to prevent brownout
-            null, // Use default timeout (10 s)
-            // Log state with Phoenix SignalLogger class
-            (state) -> SignalLogger.writeString("state", state.toString())),
-        new SysIdRoutine.Mechanism(
-            (volts) -> intakeIO
-                .getMotor()
-                .setControl(intakeIO.getVoltageRequest().withOutput(volts.in(Volts))),
-            null,
-            this));
+    intake_sysIdRoutine =
+        new SysIdRoutine(
+            new SysIdRoutine.Config(
+                Volts.of(0.2).per(Seconds.of(1)), // Use default ramp rate (1 V/s)
+                Volts.of(6), // Reduce dynamic step voltage to 4 to prevent brownout
+                null, // Use default timeout (10 s)
+                // Log state with Phoenix SignalLogger class
+                (state) -> SignalLogger.writeString("state", state.toString())),
+            new SysIdRoutine.Mechanism(
+                (volts) ->
+                    intakeIO
+                        .getMotor()
+                        .setControl(intakeIO.getVoltageRequest().withOutput(volts.in(Volts))),
+                null,
+                this));
   }
 
   @Override

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
@@ -15,21 +15,22 @@
 public final class IntakeConstants implements SingleMotorConstants {
   // Motor configuration
   public static final int kMotorID = 33;
-  public static final TalonFXConfiguration kMotorConfig = new TalonFXConfiguration()
-      .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
-      .withMotorOutput(
-          new MotorOutputConfigs()
-              .withNeutralMode(NeutralModeValue.Brake)
-              .withInverted(InvertedValue.Clockwise_Positive))
-      .withMotionMagic(
-          new MotionMagicConfigs()
-              .withMotionMagicAcceleration(120)
-              .withMotionMagicCruiseVelocity(60)
-              .withMotionMagicJerk(1200))
-      .withCurrentLimits(
-          new CurrentLimitsConfigs()
-              .withStatorCurrentLimitEnable(true)
-              .withStatorCurrentLimit(80));
+  public static final TalonFXConfiguration kMotorConfig =
+      new TalonFXConfiguration()
+          .withSlot0(new Slot0Configs().withKS(0).withKV(0.1).withKP(1).withKI(0).withKD(0))
+          .withMotorOutput(
+              new MotorOutputConfigs()
+                  .withNeutralMode(NeutralModeValue.Brake)
+                  .withInverted(InvertedValue.Clockwise_Positive))
+          .withMotionMagic(
+              new MotionMagicConfigs()
+                  .withMotionMagicAcceleration(120)
+                  .withMotionMagicCruiseVelocity(60)
+                  .withMotionMagicJerk(1200))
+          .withCurrentLimits(
+              new CurrentLimitsConfigs()
+                  .withStatorCurrentLimitEnable(true)
+                  .withStatorCurrentLimit(80));
   public static final boolean kUseMotionMagic = false;
   // Custom to intake subsystem
   public static final double kMotorVoltage = 12;