a

diff --git a/src/main/java/frc/robot/constants/IdConstants.java b/src/main/java/frc/robot/constants/IdConstants.java
index 19c58381ec43e9483bb8fdb3359d3c7ced4888c8..ad7ef146ef5d9855d78a5cf8236119c7e045ba64 100644 (file)
--- a/src/main/java/frc/robot/constants/IdConstants.java
+++ b/src/main/java/frc/robot/constants/IdConstants.java
@@ -36,4 +36,9 @@ public class IdConstants {
 
     // Spindexer
     public static final int SPINDEXER_ID = 12;
+
+    // Intake
+    public static final int INTAKE_BASE_ID = 13;
+    public static final int INTAKE_FLYWHEEL_ID = 14;
+    public static final int INTAKE_ENCODER_ID = 2;
 }

diff --git a/src/main/java/frc/robot/subsystems/intake/Intake.java b/src/main/java/frc/robot/subsystems/intake/Intake.java
index 9835af3833f2c162da8cde6ac21bc6f27e325bcd..d72340fe71d388f0651a5df0ecad4ce026928615 100644 (file)
--- a/src/main/java/frc/robot/subsystems/intake/Intake.java
+++ b/src/main/java/frc/robot/subsystems/intake/Intake.java
@@ -28,11 +28,10 @@ import edu.wpi.first.wpilibj2.command.InstantCommand;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.constants.Constants;
 import frc.robot.constants.IdConstants;
-import frc.robot.constants.IntakeConstants;
 
 public class Intake extends SubsystemBase implements IntakeIO{
-    private TalonFX flyWheelMotor = new TalonFX(IdConstants.FLYWHEEL_MOTOR_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
-    private TalonFX baseMotor = new TalonFX(IdConstants.BASE_MOTOR_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
+    private TalonFX flyWheelMotor = new TalonFX(IdConstants.INTAKE_FLYWHEEL_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
+    private TalonFX baseMotor = new TalonFX(IdConstants.INTAKE_BASE_ID, Constants.SUBSYSTEM_CANIVORE_CAN);
 
     double basePower;
     double flyWheelPower;

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
index c4b0c5d1a63a0255d905eebdb8cbc1a82e27be11..7df91add402f9642068253d577f96e7e9dc0ba18 100644 (file)
--- a/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeConstants.java
@@ -1,5 +1,24 @@
 package frc.robot.subsystems.intake;
 
 public class IntakeConstants {
-    
-}
+    public static final double PIVOT_GEAR_RATIO = 1/(18.0*18.0*10.0/54.0/60.0/38.0);  //38
+
+    public static final double MASS = 1.5753263; // kilograms: mass of arm specifically
+    public static final double CENTER_OF_MASS_LENGTH = 0.199608903192622; // meters
+    public static final double LENGTH = 0.245750; // meters
+
+    public static final double MOI = 0.0644; // kg*m^2
+    public static final double MAX_VELOCITY = 15.0; // rad/s
+    public static final double MAX_ACCELERATION = 100.0; // rad/s^2
+
+    public static final double START_ANGLE = 101.7539148;
+    public static final double INTAKE_ANGLE = 142.48;
+    public static final double STOW_ANGLE = 107.0;
+
+    //TODO: find this
+    public static final double FLYWHEEL_SPEED = 1.0;
+
+    //TODO: find this
+    public static final double ABSOLUTE_OFFSET_ANGLE = (139.1748046875 - START_ANGLE + 30);
+
+}
\ No newline at end of file

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
index e72793baa63ea0c0075077d5f9431df0b35cffc3..01eb981fbae8bc514ead7844af851859f8f8f511 100644 (file)
--- a/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
+++ b/src/main/java/frc/robot/subsystems/intake/IntakeIO.java
@@ -8,7 +8,6 @@ public interface IntakeIO {
         public double measuredAngle = IntakeConstants.START_ANGLE;
         public double currentAmps = 0.0;
         public double flyWheelVelocity = 0.0;
-
     }
 
     public void updateInputs();