Stop intaking if note passed intake #159
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… are correct since it obviously isn't robot tested
3 tasks
honzikschenk
requested changes
Mar 10, 2024
| @@ -26,4 +26,8 @@ public default void updateInputs(IntakeIOInputs inputs) {} | |||
| public default void setIntakeVoltage(double volts) {} | |||
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| public default void setBeltVoltage(double volts) {} | |||
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| public default boolean checkIfStopIntake() { | |||
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Could we please make this an input instead of a getter method?
| io.setBeltVoltage(IntakeConstants.beltPower); | ||
| if (!io.checkIfStopIntake()) { | ||
| io.setIntakeVoltage(IntakeConstants.intakePower); | ||
| io.setBeltVoltage(IntakeConstants.beltPower); |
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We don't want to stop running the belt motor here.
| @@ -59,4 +67,15 @@ public void setIntakeVoltage(double volts) { | |||
| public void setBeltVoltage(double volts) { | |||
| belt.setControl(new VoltageOut(volts)); | |||
| } | |||
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| @Override | |||
| public boolean checkIfStopIntake() { | |||
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We're going to add a ToF sensor here so we can use that instead of current sensing and a timer.
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deleting pull request, jack's already doing it haha |
…uest or a brance haha
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Addressed in PR #155 |
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I'm not sure if this will work and it's definitely not robot tested; I can adjust numbers or switch the off condition from the current timer to checking for belt current if needed?
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