Intake subsystem by j110396-arch · Pull Request #7 · Team6083/2026Overlooking

j110396-arch · 2026-01-30T03:09:35Z

pr測試

Hannahjjj97

請修正

不該出現在 Subsystem 的搖桿程式需刪除
多餘不會用到的 Vendor 檔也需刪除
Phoenix 的 Vendor 要改成沒有 replay 的版本

Hannahjjj97 · 2026-01-30T03:21:21Z

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

-  /** Creates a new IntakeSubsystem. */
+    SparkMax intakeMotor = new SparkMax(10, MotorType.kBrushless);
+    SparkMaxConfig config = new SparkMaxConfig();
+    Joystick driverJoystick = new Joystick(0);


Subsystem 裡面不該出現搖桿，如果不太懂的話，你什麼時候去實驗室啊？我可以找人教你

應該是可以解決

Hannahjjj97 · 2026-01-30T03:22:44Z

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

+    if (driverJoystick.getRawButton(2)) {
+            rotateUp();
+        } 
+        else if (driverJoystick.getRawButton(3)) {
+            rotateDown();
+        } 
+        else {
+            stopRotate();
+
+       //
+    if (driverJoystick.getRawButton(4)) {
+            intake();
+        } 
+        else if (driverJoystick.getRawButton(5)) {
+            reverseIntake();
+        } 
+        else {
+            stopIntake();
+        }     
+    }


這些東西也不該出現在 Subsystem 裡面，一樣如果沒懂的話，看你什麼時候去實驗室，我找人教你

Hannahjjj97 · 2026-01-30T05:02:04Z

Checks 沒通過要去看為什麼沒通過並修正喔

Hannahjjj97 · 2026-01-30T05:51:46Z

Commit message 要照規定喔

https://docs.google.com/document/d/1YdpMCMAczSOJwvY7oCBu9dQ_GmFhv7NL1Mv2XWeZPU8/edit?usp=drivesdk

Hannahjjj97 · 2026-01-30T06:09:55Z

你如果改完需要再 review 一次的話要再 request review 一次喔

j110396-arch · 2026-01-30T06:15:30Z

Merging is blocked

j110396-arch · 2026-01-30T06:16:18Z

Hannahjjj97 · 2026-01-30T06:27:56Z

Merge is blocked 是因為還沒審過喔😀
所以你如果修改好要我再看一次，要再 request review 一次嘿，然後我會叫你改東西，改完，我審過，才可以 merge 嘿

Hannahjjj97

總共要有三個馬達喔

Hannahjjj97

調仰角的地方有裝 encoder，可以補一下

Hannahjjj97

Encoder 要用 DutyCycleEncoder 這個類別喔，你可以自己新增 method，可以一次伸出來跟一次收進去的 method

kennhung

我有留一個建議，可以看看要不要改

kennhung · 2026-01-30T15:56:06Z

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

+  private final SparkMax pivotLeft = new SparkMax(11, MotorType.kBrushless);
+  private final SparkMax pivotRight = new SparkMax(12, MotorType.kBrushless);
+  private final DutyCycleEncoder pivotEncoder = new DutyCycleEncoder(4);
+  private final SparkMaxConfig config = new SparkMaxConfig();


這個 config 只是用來設定 SparkMax，建議可以直接在 constructor 裡面定義就好。

BrianHu0925 · 2026-01-31T12:31:08Z

AmLib-2026.0.1.json 這個 vendordrop 好像沒用到？我看前面也有提到不會用到的話記得刪掉

Hannahjjj97

要把 vendor 刪掉然後從 main merge 進來喔

Hannahjjj97 · 2026-02-01T07:24:28Z

你什麼時候會去實驗室呀

BrianHu0925 · 2026-02-01T08:10:30Z

你在 configure 的地方用的是已經 deprecated 的 method 喔記得修掉

BrianHu0925 · 2026-02-01T12:48:59Z

src/main/java/frc/robot/subsystems/IntakeSubsystem.java

+    SmartDashboard.putNumber("Pivot Absolute Pos", getPivotAbsolutePosition());
+    SmartDashboard.putBoolean("Pivot Encoder Connected", pivotEncoder.isConnected());


DashBoard 的命名方式確定了記得更改一下喔

kennhung · 2026-02-02T02:34:03Z

src/main/java/frc/robot/subsystems/IntakeSubsystem.java


-  private void intake() {

+   intakeMotor.configure(config, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters);


這個縮排問題要記得修正喔

kennhung · 2026-02-02T02:38:08Z

src/main/java/frc/robot/subsystems/IntakeSubsystem.java


+   intakeMotor.configure(config, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters);
+    pivotLeft.configure(config, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters);
+    pivotRight.configure(config, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters);


同 @BrianHu0925 說過的，configure 已經被標注為 depercated，代表這個 API 即將被刪除。（他的 warning 訊息中有說明）

The method configure(SparkBaseConfig, SparkBase.ResetMode, SparkBase.PersistMode) from the type SparkMax has been deprecated since version 2026 and marked for removal.

src/main/java/frc/robot/Constants.java

BrianHu0925 · 2026-02-02T06:46:00Z

src/main/java/frc/robot/RobotContainer.java

+  private void configureBindings() {
+
+    // 按住A鍵吸球放開停止
+    driverController.a().whileTrue(
+        new RunCommand(() -> intakeSubsystem.intake(), intakeSubsystem)
+    ).onFalse(new InstantCommand(() -> intakeSubsystem.stopIntake(), intakeSubsystem));
+
+    // 按住B鍵反轉放開停止
+    driverController.b().whileTrue(
+        new RunCommand(() -> intakeSubsystem.reverseIntake(), intakeSubsystem)
+    ).onFalse(new InstantCommand(() -> intakeSubsystem.stopIntake(), intakeSubsystem));
+
+    // ------------------- Pivot 角度控制 -------------------
+
+    // 按住 Y 鍵抬起放開停止
+    driverController.y().whileTrue(
+        new RunCommand(() -> intakeSubsystem.rotateUp(), intakeSubsystem)
+    ).onFalse(new InstantCommand(() -> intakeSubsystem.stopRotate(), intakeSubsystem));
+
+    // 按住 X鍵放下放開停止
+    driverController.x().whileTrue(
+        new RunCommand(() -> intakeSubsystem.rotateDown(), intakeSubsystem)
+    ).onFalse(new InstantCommand(() -> intakeSubsystem.stopRotate(), intakeSubsystem));
+  }


這是你自己寫的嗎？我們正式不會這樣寫喔，會使用簡易 command。然後請先處理尚未解決的問題

src/main/java/frc/robot/Constants.java

BrianHu0925 · 2026-02-02T07:31:45Z

deprecated 的 method 記得修掉喔

kennhung

請修正有留言的問題，RobotContainer 不應該在這個分支被修改（現在多了一個空行）

kennhung · 2026-02-03T05:43:03Z

src/main/java/frc/robot/Constants.java

-public class Constants {

+public final class Constants {
+    public static final class IntakeConstants {


請修正這邊的縮排問題

j110396-arch added 3 commits January 29, 2026 16:54

intake subsystem final

3826e04

ewddfref

99d6da2

intake

7f5902c

j110396-arch requested a review from Hannahjjj97 January 30, 2026 03:17

Hannahjjj97 requested changes Jan 30, 2026

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j110396-arch added 2 commits January 30, 2026 13:22

IntakeRevise

9caa3a4

Revise Intake 2

dac998c

Revise Intake 3

c7ee353

j110396-arch closed this Jan 30, 2026

j110396-arch reopened this Jan 30, 2026

j110396-arch enabled auto-merge January 30, 2026 06:10

j110396-arch requested a review from Hannahjjj97 January 30, 2026 06:46

Hannahjjj97 requested changes Jan 30, 2026

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three motor

6d84acb

j110396-arch requested a review from Hannahjjj97 January 30, 2026 07:28

Hannahjjj97 requested changes Jan 30, 2026

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j110396-arch added 2 commits January 30, 2026 17:10

[Intake] feat: add encoder and smartdashboard

c907f86

[Intake] feat : add encoder and SmartDashboard

6240789

j110396-arch requested a review from Hannahjjj97 January 30, 2026 09:16

Hannahjjj97 requested changes Jan 30, 2026

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j110396-arch added 2 commits January 30, 2026 22:05

[intake] feat : Modify encoder category

1bcae63

[Intake]feat : modify encoder type

4d16157

j110396-arch requested a review from Hannahjjj97 January 30, 2026 14:28

kennhung reviewed Jan 30, 2026

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[intake]feat : Move config to constructor

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j110396-arch requested a review from kennhung January 31, 2026 15:19

[intake]feat : remove vendor

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Hannahjjj97 requested changes Feb 1, 2026

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BrianHu0925 reviewed Feb 1, 2026

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kennhung requested changes Feb 2, 2026

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[intake] feat : add RobotContainer

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github-code-quality bot found potential problems Feb 2, 2026

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src/main/java/frc/robot/Constants.java Fixed Show fixed Hide fixed

j110396-arch requested review from BrianHu0925, Hannahjjj97 and kennhung February 2, 2026 06:40

BrianHu0925 requested changes Feb 2, 2026

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[Intake] feat : add RobotContainer

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github-code-quality bot found potential problems Feb 2, 2026

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src/main/java/frc/robot/Constants.java Fixed Show fixed Hide fixed

[Intake] fix : fix some bug

7f51f74

j110396-arch requested a review from BrianHu0925 February 2, 2026 07:07

[Intake] fix : fix RobotContainer

5a3340f

kennhung requested changes Feb 3, 2026

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		SmartDashboard.putNumber("Pivot Absolute Pos", getPivotAbsolutePosition());
		SmartDashboard.putBoolean("Pivot Encoder Connected", pivotEncoder.isConnected());


		private void intake() {

		intakeMotor.configure(config, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters);

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j110396-arch commented Jan 30, 2026

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