From d5a2b2807735261440853397375cac681b41fe1c Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Wed, 18 Feb 2026 16:58:33 -0600 Subject: [PATCH 01/10] Si Si --- src/main/java/frc/robot/commands/IntakeToggleCommand.java | 3 +++ src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 3 +++ 2 files changed, 6 insertions(+) create mode 100644 src/main/java/frc/robot/commands/IntakeToggleCommand.java create mode 100644 src/main/java/frc/robot/subsystems/IntakeSubsystem.java diff --git a/src/main/java/frc/robot/commands/IntakeToggleCommand.java b/src/main/java/frc/robot/commands/IntakeToggleCommand.java new file mode 100644 index 0000000..6b0e125 --- /dev/null +++ b/src/main/java/frc/robot/commands/IntakeToggleCommand.java @@ -0,0 +1,3 @@ +public class IntakeToggleCommand { + +} diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java new file mode 100644 index 0000000..2e06879 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -0,0 +1,3 @@ +public class IntakeSubsystem { + +} From ad7855b6ce806b617ff9296fefc1bb2997e79fde Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Wed, 18 Feb 2026 17:07:38 -0600 Subject: [PATCH 02/10] Oais sample corto --- .../frc/robot/subsystems/IntakeSubsystem.java | 27 ++++++++++++++++++- 1 file changed, 26 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 2e06879..d4ceb3c 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -1,3 +1,28 @@ -public class IntakeSubsystem { +package frc.robot.subsystems; +import edu.wpi.first.wpilibj.Spark; +import edu.wpi.first.wpilibj2.command.SubsystemBase; +import frc.robot.Constants.IntakeConstants; + +public class IntakeSubsystem extends SubsystemBase { + + private Spark intakeLeftMotor = new Spark(IntakeConstants.kLeftMotorPort); + private Spark intakeRightMotor = new Spark(IntakeConstants.kRightMotorPort); + + public IntakeSubsystem() { + } + + @Override + public void periodic() { + } + + public void setPosition(boolean open) { + if (open) { + intakeLeftMotor.set(IntakeConstants.kOpenSpeed); + intakeRightMotor.set(IntakeConstants.kOpenSpeed); + } else { + intakeLeftMotor.set(IntakeConstants.kCloseSpeed); + intakeRightMotor.set(IntakeConstants.kCloseSpeed); + } + } } From 4d8f516a9a6e794a22d4cdc8d45e360de5000f54 Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Wed, 18 Feb 2026 17:12:34 -0600 Subject: [PATCH 03/10] Commands Commands Update --- .../robot/commands/IntakeToggleCommand.java | 37 ++++++++++++++++++- 1 file changed, 35 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/commands/IntakeToggleCommand.java b/src/main/java/frc/robot/commands/IntakeToggleCommand.java index 6b0e125..423f991 100644 --- a/src/main/java/frc/robot/commands/IntakeToggleCommand.java +++ b/src/main/java/frc/robot/commands/IntakeToggleCommand.java @@ -1,3 +1,36 @@ -public class IntakeToggleCommand { +package frc.robot.commands; -} +import edu.wpi.first.wpilibj2.command.CommandBase; +import frc.robot.subsystems.IntakeSubsystem; + +public class IntakeSetCmd extends CommandBase { + + private final IntakeSubsystem intakeSubsystem; + private final boolean open; + + public IntakeSetCmd(IntakeSubsystem intakeSubsystem, boolean open) { + this.open = open; + this.intakeSubsystem = intakeSubsystem; + addRequirements(intakeSubsystem); + } + + @Override + public void initialize() { + System.out.println("Intake has started"); + } + + @Override + public void execute() { + intakeSubsystem.setPosition(open); + } + + @Override + public void end(boolean interrupted) { + System.out.println("Intake has ended"); + } + + @Override + public boolean isFinished() { + return false; + } +} \ No newline at end of file From e000f82823d580da8f8381e10f5cc2ee2229083d Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Wed, 18 Feb 2026 17:22:09 -0600 Subject: [PATCH 04/10] Intake Update Stop feature added --- src/main/java/frc/robot/Robot.java | 2 +- .../java/frc/robot/commands/IntakeToggleCommand.java | 1 + src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 9 +++------ 3 files changed, 5 insertions(+), 7 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index cea1ffc..0cf451f 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -30,7 +30,7 @@ public void disabledPeriodic() {} @Override public void disabledExit() {} - +//si @Override public void autonomousInit() { m_autonomousCommand = m_robotContainer.getAutonomousCommand(); diff --git a/src/main/java/frc/robot/commands/IntakeToggleCommand.java b/src/main/java/frc/robot/commands/IntakeToggleCommand.java index 423f991..2988b33 100644 --- a/src/main/java/frc/robot/commands/IntakeToggleCommand.java +++ b/src/main/java/frc/robot/commands/IntakeToggleCommand.java @@ -26,6 +26,7 @@ public void execute() { @Override public void end(boolean interrupted) { + intakeSubsystem.stop(); System.out.println("Intake has ended"); } diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index d4ceb3c..645d0f6 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -6,8 +6,7 @@ public class IntakeSubsystem extends SubsystemBase { - private Spark intakeLeftMotor = new Spark(IntakeConstants.kLeftMotorPort); - private Spark intakeRightMotor = new Spark(IntakeConstants.kRightMotorPort); + private Spark intakeMotor = new Spark(5); public IntakeSubsystem() { } @@ -18,11 +17,9 @@ public void periodic() { public void setPosition(boolean open) { if (open) { - intakeLeftMotor.set(IntakeConstants.kOpenSpeed); - intakeRightMotor.set(IntakeConstants.kOpenSpeed); + intakeMotor.set(IntakeConstants.kOpenSpeed); } else { - intakeLeftMotor.set(IntakeConstants.kCloseSpeed); - intakeRightMotor.set(IntakeConstants.kCloseSpeed); + intakeMotor.set(IntakeConstants.kCloseSpeed); } } } From 63f77dab41f00b73410da23df1741a527e944cfc Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Fri, 20 Feb 2026 13:07:07 -0600 Subject: [PATCH 05/10] 2 Motors Added --- .../frc/robot/commands/IntakeToggleCommand.java | 2 +- .../java/frc/robot/subsystems/IntakeSubsystem.java | 14 +++++++++++--- 2 files changed, 12 insertions(+), 4 deletions(-) diff --git a/src/main/java/frc/robot/commands/IntakeToggleCommand.java b/src/main/java/frc/robot/commands/IntakeToggleCommand.java index 2988b33..72b3474 100644 --- a/src/main/java/frc/robot/commands/IntakeToggleCommand.java +++ b/src/main/java/frc/robot/commands/IntakeToggleCommand.java @@ -26,7 +26,7 @@ public void execute() { @Override public void end(boolean interrupted) { - intakeSubsystem.stop(); + intakeSubsystem.stop(); System.out.println("Intake has ended"); } diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 645d0f6..ac0187b 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -6,7 +6,8 @@ public class IntakeSubsystem extends SubsystemBase { - private Spark intakeMotor = new Spark(5); + private Spark intakeLeftMotor = new Spark(5); + private Spark intakeRightMotor = new Spark(6); public IntakeSubsystem() { } @@ -17,9 +18,16 @@ public void periodic() { public void setPosition(boolean open) { if (open) { - intakeMotor.set(IntakeConstants.kOpenSpeed); + intakeLeftMotor.set(IntakeConstants.kOpenSpeed); + intakeRightMotor.set(IntakeConstants.kOpenSpeed); } else { - intakeMotor.set(IntakeConstants.kCloseSpeed); + intakeLeftMotor.set(IntakeConstants.kCloseSpeed); + intakeRightMotor.set(IntakeConstants.kCloseSpeed); } } + + public void stop() { + intakeLeftMotor.set(0); // Detiene el motor por completo + intakeRightMotor.set(0); + } } From 37d16021fa7c104314772666d926113586bae4cc Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Fri, 20 Feb 2026 13:44:48 -0600 Subject: [PATCH 06/10] Intake System Updated Idk if it really works --- src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index ac0187b..e11385e 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -3,13 +3,19 @@ import edu.wpi.first.wpilibj.Spark; import edu.wpi.first.wpilibj2.command.SubsystemBase; import frc.robot.Constants.IntakeConstants; +import edu.wpi.first.wpilibj.PneumaticsModuleType; +import edu.wpi.first.wpilibj.Solenoid; +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.PneumaticHu public class IntakeSubsystem extends SubsystemBase { private Spark intakeLeftMotor = new Spark(5); private Spark intakeRightMotor = new Spark(6); + private intakeDoubleSolenoid = new DoubleSolenoid(1,PneumaticsModuleType.REVPH,0,1) public IntakeSubsystem() { + IntakeDoubleSolenoid.set(DoubleSolenoid.Value.kOff); } @Override @@ -20,9 +26,11 @@ public void setPosition(boolean open) { if (open) { intakeLeftMotor.set(IntakeConstants.kOpenSpeed); intakeRightMotor.set(IntakeConstants.kOpenSpeed); + intakeDoubleSolenoid.set(DoubleSolenoid.Value.kForward); } else { intakeLeftMotor.set(IntakeConstants.kCloseSpeed); intakeRightMotor.set(IntakeConstants.kCloseSpeed); + intakeDoubleSolenoid.set(DoubleSolenoid.Value.kReverse); } } From d815c5d5b684acc4c164446726cf1dc9bf341b9f Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Fri, 20 Feb 2026 14:15:50 -0600 Subject: [PATCH 07/10] Intake System V2 idk if it will work --- src/main/java/frc/robot/RobotContainer.java | 7 +++++++ src/main/java/frc/robot/commands/IntakeToggleCommand.java | 1 + src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 2 +- 3 files changed, 9 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index b772969..6183431 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -13,16 +13,21 @@ import frc.robot.subsystems.DrivetrainSubsystem; import frc.robot.subsystems.ShooterSubsystem; import edu.wpi.first.wpilibj2.command.CommandScheduler; +import frc.robot.subsystems.IntakeSubsystem; +import frc.robot.commands.IntakeSetCmd; public class RobotContainer { private final Joystick stick1 = new Joystick(0); private final Joystick stick2 = new Joystick(1); + private final Joystick stick3 = new Joystick(2); private final DrivetrainSubsystem drivetrainSubsystem = new DrivetrainSubsystem(); private final DrivetrainDriveCommand drivetrainDriveCommand = new DrivetrainDriveCommand(drivetrainSubsystem, stick1); private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem(); private final ShooterToggleCommand shooterToggleCommand = new ShooterToggleCommand(shooterSubsystem, stick2); + private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); + public RobotContainer() { configureBindings(); @@ -30,6 +35,8 @@ public RobotContainer() { private void configureBindings() { CommandScheduler.getInstance().setDefaultCommand(drivetrainSubsystem, drivetrainDriveCommand); new JoystickButton(stick2, 1).onTrue(shooterToggleCommand); + new JoystickButton(stick3, 1).whileTrue(new IntakeSetCmd(intakeSubsystem, true)); + new JoystickButton(stick3, 2).whileTrue(new IntakeSetCmd(intakeSubsystem, false)); } public Command getAutonomousCommand() { diff --git a/src/main/java/frc/robot/commands/IntakeToggleCommand.java b/src/main/java/frc/robot/commands/IntakeToggleCommand.java index 72b3474..26c9755 100644 --- a/src/main/java/frc/robot/commands/IntakeToggleCommand.java +++ b/src/main/java/frc/robot/commands/IntakeToggleCommand.java @@ -34,4 +34,5 @@ public void end(boolean interrupted) { public boolean isFinished() { return false; } + } \ No newline at end of file diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index e11385e..199cc8e 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -6,7 +6,7 @@ import edu.wpi.first.wpilibj.PneumaticsModuleType; import edu.wpi.first.wpilibj.Solenoid; import edu.wpi.first.wpilibj.DoubleSolenoid; -import edu.wpi.first.wpilibj.PneumaticHu +import edu.wpi.first.wpilibj.PneumaticHub; public class IntakeSubsystem extends SubsystemBase { From 4d413ac9d913fa2e9223eb2624931e12fbed6a5e Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Fri, 20 Feb 2026 14:24:34 -0600 Subject: [PATCH 08/10] Constants Update --- .../frc/robot/subsystems/IntakeSubsystem.java | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 199cc8e..913d2ba 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -8,7 +8,19 @@ import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticHub; + + public class IntakeSubsystem extends SubsystemBase { + public static final class Constants { + public static final double kOpenSpeed = 0.7; + public static final double kCloseSpeed = -0.7; + public static final int kLeftMotorPort = 5; + public static final int kRightMotorPort = 6; + public static final int kPneumaticHubID = 1; + public static final int kPneumaticHubID = 1; + public static final int kSolenoidChannelForward = 0; + public static final int kSolenoidChannelReverse = 1; + } private Spark intakeLeftMotor = new Spark(5); private Spark intakeRightMotor = new Spark(6); @@ -26,11 +38,11 @@ public void setPosition(boolean open) { if (open) { intakeLeftMotor.set(IntakeConstants.kOpenSpeed); intakeRightMotor.set(IntakeConstants.kOpenSpeed); - intakeDoubleSolenoid.set(DoubleSolenoid.Value.kForward); + intakeDoubleSolenoid.set(Constants.kSolenoidChannelForward); } else { intakeLeftMotor.set(IntakeConstants.kCloseSpeed); intakeRightMotor.set(IntakeConstants.kCloseSpeed); - intakeDoubleSolenoid.set(DoubleSolenoid.Value.kReverse); + intakeDoubleSolenoid.set(Constants.kSolenoidChannelReverse); } } From f8f3af12eefcb59f90ef2e871d84a36366b4bc03 Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Fri, 20 Feb 2026 15:00:09 -0600 Subject: [PATCH 09/10] Intake V3 print('Emoji of withered fower') --- src/main/java/frc/robot/RobotContainer.java | 1 + .../frc/robot/subsystems/IntakeSubsystem.java | 27 ++++-- .../java/frc/robot/subsystems/IntakeTest.java | 82 +++++++++++++++++++ 3 files changed, 103 insertions(+), 7 deletions(-) create mode 100644 src/main/java/frc/robot/subsystems/IntakeTest.java diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 6183431..8d90592 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,6 +27,7 @@ public class RobotContainer { private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem(); private final ShooterToggleCommand shooterToggleCommand = new ShooterToggleCommand(shooterSubsystem, stick2); private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); + private final Compressor m_compressor = new Compressor(1, PneumaticsModuleType.REVPH); public RobotContainer() { diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 913d2ba..2a4f78d 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -7,26 +7,37 @@ import edu.wpi.first.wpilibj.Solenoid; import edu.wpi.first.wpilibj.DoubleSolenoid; import edu.wpi.first.wpilibj.PneumaticHub; - +import edu.wpi.first.wpilibj.Compressor; +import edu.wpi.first.wpilibj.PneumaticsModuleType; public class IntakeSubsystem extends SubsystemBase { + //Stablishment of Constant for code public static final class Constants { public static final double kOpenSpeed = 0.7; public static final double kCloseSpeed = -0.7; public static final int kLeftMotorPort = 5; public static final int kRightMotorPort = 6; - public static final int kPneumaticHubID = 1; - public static final int kPneumaticHubID = 1; + public static final int kPneumaticHubID = 5; + public static final int kPneumaticHubID = 5; public static final int kSolenoidChannelForward = 0; public static final int kSolenoidChannelReverse = 1; } + //Pneumatic Main Properties + private final PneumaticHub m_pneumaticHub = new PneumaticHub(5); private Spark intakeLeftMotor = new Spark(5); private Spark intakeRightMotor = new Spark(6); - private intakeDoubleSolenoid = new DoubleSolenoid(1,PneumaticsModuleType.REVPH,0,1) + private final Compressor m_compressor = new Compressor(5, PneumaticsModuleType.REVPH); + private final DoubleSolenoid IntakeDoubleSolenoid = new DoubleSolenoid( + Constants.kPneumaticHubID, + PneumaticsModuleType.REVPH, + Constants.kForwardChannel, + Constants.kReverseChannel + ); public IntakeSubsystem() { + m_compressor.enableAnalog(90, 120); IntakeDoubleSolenoid.set(DoubleSolenoid.Value.kOff); } @@ -34,20 +45,22 @@ public IntakeSubsystem() { public void periodic() { } + //Intake Functions (open or close) public void setPosition(boolean open) { if (open) { intakeLeftMotor.set(IntakeConstants.kOpenSpeed); intakeRightMotor.set(IntakeConstants.kOpenSpeed); - intakeDoubleSolenoid.set(Constants.kSolenoidChannelForward); + intakeDoubleSolenoid.set(DoubleSolenoid.Value.kForward); } else { intakeLeftMotor.set(IntakeConstants.kCloseSpeed); intakeRightMotor.set(IntakeConstants.kCloseSpeed); - intakeDoubleSolenoid.set(Constants.kSolenoidChannelReverse); + intakeDoubleSolenoid.set(DoubleSolenoid.Value.kReverse); } } + //Intake Stop public void stop() { - intakeLeftMotor.set(0); // Detiene el motor por completo + intakeLeftMotor.set(0); intakeRightMotor.set(0); } } diff --git a/src/main/java/frc/robot/subsystems/IntakeTest.java b/src/main/java/frc/robot/subsystems/IntakeTest.java new file mode 100644 index 0000000..aaf2962 --- /dev/null +++ b/src/main/java/frc/robot/subsystems/IntakeTest.java @@ -0,0 +1,82 @@ +package frc.robot; + +import edu.wpi.first.wpilibj.Compressor; +import edu.wpi.first.wpilibj.DoubleSolenoid; +import edu.wpi.first.wpilibj.Joystick; +import edu.wpi.first.wpilibj.PneumaticHub; +import edu.wpi.first.wpilibj.PneumaticsModuleType; +import edu.wpi.first.wpilibj.TimedRobot; + +public class Robot extends TimedRobot { + + private final PneumaticHub m_pneumaticHub = new PneumaticHub(5); + + private final Compressor m_compressor = + new Compressor(5, PneumaticsModuleType.REVPH); + + private final DoubleSolenoid m_doubleSolenoid = + new DoubleSolenoid( + 5, + PneumaticsModuleType.REVPH, + 0, + 1 + ); + + // ✅ Stick en lugar de XboxController + private final Joystick m_stick = new Joystick(0); + + public Robot() { + // ✅ Compresor controlado SOLO por pressure switch digital + m_compressor.enableAnalog(90, 100); + } + + @Override + public void robotPeriodic() { + + // ✅ SOLO sensor digital (pin 0 del PH) + boolean pressureSwitch = m_pneumaticHub.getPressureSwitch(); + double current = m_pneumaticHub.getCompressorCurrent(); + boolean compressorRunning = m_compressor.isEnabled(); + + DoubleSolenoid.Value pistonState = m_doubleSolenoid.get(); + String pistonStatus; + + if (pistonState == DoubleSolenoid.Value.kForward) { + pistonStatus = "EXTENDIDO"; + } else if (pistonState == DoubleSolenoid.Value.kReverse) { + pistonStatus = "RETRAÍDO"; + } else { + pistonStatus = "APAGADO"; + } + + System.out.println("=== Sistema Neumático (Digital) ==="); + System.out.println("Pressure Switch (DIO 0): " + + (pressureSwitch ? "ACTIVADO" : "DESACTIVADO")); + System.out.println("Corriente del Compresor: " + + String.format("%.2f", current) + " A"); + System.out.println("Compresor Habilitado: " + + (compressorRunning ? "SÍ" : "NO")); + System.out.println("Estado del Pistón: " + pistonStatus); + System.out.println("==================================\n"); + } + + @Override + public void teleopInit() { + m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse); + } + + @Override + public void teleopPeriodic() { + // ✅ Botón 1 del stick + if (m_stick.getRawButton(1)) { + m_doubleSolenoid.set(DoubleSolenoid.Value.kForward); + } else { + m_doubleSolenoid.set(DoubleSolenoid.Value.kReverse); + } + } + + @Override + public void disabledInit() { + m_doubleSolenoid.set(DoubleSolenoid.Value.kOff); + } +} \ No newline at end of file From 35d1b65f8376879cc0529ba07eee7e07dd4ce913 Mon Sep 17 00:00:00 2001 From: EliasA330 Date: Wed, 25 Feb 2026 15:44:00 -0600 Subject: [PATCH 10/10] si --- src/main/java/frc/robot/Robot.java | 1 + src/main/java/frc/robot/RobotContainer.java | 1 - src/main/java/frc/robot/commands/IntakeToggleCommand.java | 1 + src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java | 1 + src/main/java/frc/robot/subsystems/IntakeSubsystem.java | 2 +- 5 files changed, 4 insertions(+), 2 deletions(-) diff --git a/src/main/java/frc/robot/Robot.java b/src/main/java/frc/robot/Robot.java index 0cf451f..98b3f83 100644 --- a/src/main/java/frc/robot/Robot.java +++ b/src/main/java/frc/robot/Robot.java @@ -15,6 +15,7 @@ public class Robot extends TimedRobot { public Robot() { m_robotContainer = new RobotContainer(); + m_compressor.enableAnalog(90, 100); } @Override diff --git a/src/main/java/frc/robot/RobotContainer.java b/src/main/java/frc/robot/RobotContainer.java index 8d90592..6183431 100644 --- a/src/main/java/frc/robot/RobotContainer.java +++ b/src/main/java/frc/robot/RobotContainer.java @@ -27,7 +27,6 @@ public class RobotContainer { private final ShooterSubsystem shooterSubsystem = new ShooterSubsystem(); private final ShooterToggleCommand shooterToggleCommand = new ShooterToggleCommand(shooterSubsystem, stick2); private final IntakeSubsystem intakeSubsystem = new IntakeSubsystem(); - private final Compressor m_compressor = new Compressor(1, PneumaticsModuleType.REVPH); public RobotContainer() { diff --git a/src/main/java/frc/robot/commands/IntakeToggleCommand.java b/src/main/java/frc/robot/commands/IntakeToggleCommand.java index 26c9755..cf6bb65 100644 --- a/src/main/java/frc/robot/commands/IntakeToggleCommand.java +++ b/src/main/java/frc/robot/commands/IntakeToggleCommand.java @@ -4,6 +4,7 @@ import frc.robot.subsystems.IntakeSubsystem; public class IntakeSetCmd extends CommandBase { + private final Joystick stick; private final IntakeSubsystem intakeSubsystem; private final boolean open; diff --git a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java index a95b9a8..93d1d7a 100644 --- a/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java +++ b/src/main/java/frc/robot/subsystems/DrivetrainSubsystem.java @@ -17,6 +17,7 @@ public class DrivetrainSubsystem extends SubsystemBase{ private final SparkMax rightBack = new SparkMax(98, MotorType.kBrushless); private final SparkMax leftFront = new SparkMax(97, MotorType.kBrushless); private final SparkMax leftBack = new SparkMax(96, MotorType.kBrushless); + private final Compressor m_compressor = new Compressor(1, PneumaticsModuleType.REVPH); private final DifferentialDrive drive = new DifferentialDrive(rightFront, leftFront); public DrivetrainSubsystem() { diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java index 2a4f78d..4dd0950 100644 --- a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java +++ b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java @@ -24,7 +24,7 @@ public static final class Constants { public static final int kSolenoidChannelReverse = 1; } - //Pneumatic Main Properties + //Intake Main Properties private final PneumaticHub m_pneumaticHub = new PneumaticHub(5); private Spark intakeLeftMotor = new Spark(5); private Spark intakeRightMotor = new Spark(6);