From ef69f3610ffb14b9cb7221ed18feb905c7647f20 Mon Sep 17 00:00:00 2001 From: eileha Date: Mon, 9 Feb 2026 15:06:37 -0800 Subject: [PATCH] updating stuff --- .../java/frc/robot/subsystems/Intake/Intake.java | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/Intake/Intake.java b/src/main/java/frc/robot/subsystems/Intake/Intake.java index 6d6cc22..b3babc1 100644 --- a/src/main/java/frc/robot/subsystems/Intake/Intake.java +++ b/src/main/java/frc/robot/subsystems/Intake/Intake.java @@ -45,12 +45,17 @@ public class Intake extends SubsystemBase { rollerMotor = new TalonFX(IntakeConstants.rollerID); DCMotor dcmotor = DCMotor.getKrakenX44(2); + + double mechFreeSpeed = 125.0/ IntakeConstants.gearRatio; + maxVelocity = 0.5 * mechFreeSpeed; + maxAcceleration = maxVelocity / 0.25; + // right motor configs TalonFXConfiguration Config = new TalonFXConfiguration(); var slot0Configs = Config.Slot0; //find values later //friction, maybe? - slot0Configs.kP = 0; + slot0Configs.kP = 0.1; slot0Configs.kI = 0; slot0Configs.kD = 0; slot0Configs.kV = 0; @@ -110,10 +115,7 @@ public class Intake extends SubsystemBase { double mechanicalRotation = intakeSim.getAngularPositionRotations(); double motorRotation = mechanicalRotation * IntakeConstants.gearRatio; //convert motor rotation to distance - - - - + } /** -- 2.39.5