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Intake subsystem #7

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3826e04
intake subsystem final
j110396-arch Jan 29, 2026
99d6da2
ewddfref
j110396-arch Jan 29, 2026
7f5902c
intake
j110396-arch Jan 30, 2026
9caa3a4
IntakeRevise
j110396-arch Jan 30, 2026
dac998c
Revise Intake 2
j110396-arch Jan 30, 2026
c7ee353
Revise Intake 3
j110396-arch Jan 30, 2026
6d84acb
three motor
j110396-arch Jan 30, 2026
c907f86
[Intake] feat: add encoder and smartdashboard
j110396-arch Jan 30, 2026
6240789
[Intake] feat : add encoder and SmartDashboard
j110396-arch Jan 30, 2026
1bcae63
[intake] feat : Modify encoder category
j110396-arch Jan 30, 2026
4d16157
[Intake]feat : modify encoder type
j110396-arch Jan 30, 2026
39870de
[intake]feat : Move config to constructor
j110396-arch Jan 31, 2026
b4cdb8a
[intake]feat : remove vendor
j110396-arch Feb 1, 2026
edbdb30
[intake] feat : add RobotContainer
j110396-arch Feb 2, 2026
1a6f143
[Intake] feat : add RobotContainer
j110396-arch Feb 2, 2026
7f51f74
[Intake] fix : fix some bug
j110396-arch Feb 2, 2026
5a3340f
[Intake] fix : fix RobotContainer
j110396-arch Feb 2, 2026
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15 changes: 14 additions & 1 deletion src/main/java/frc/robot/Constants.java
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Expand Up @@ -5,6 +5,19 @@
package frc.robot;

/** Add your docs here. */
public class Constants {

public final class Constants {
public static final class IntakeConstants {

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'class def modifier' has incorrect indentation level 4, expected level should be 2.

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/github/workspace/./src/main/java/frc/robot/Constants.java:10:5: warning: 'class def modifier' has incorrect indentation level 4, expected level should be 2. (com.puppycrawl.tools.checkstyle.checks.indentation.IndentationCheck)
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@kennhung kennhung Feb 3, 2026

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請修正這邊的縮排問題

public static final int intakeMotorId = 10;
public static final int pivotLeftId = 11;
public static final int pivotRightId = 12;
public static final int pivotEncoderId = 4;
// ---------------------------------- Intake Motor Speeds ----------------------------------
public static final double intakeSpeed = 0.5;
public static final double reverseIntakeSpeed = -0.5;
public static final double stopIntakeSpeed = 0.0;
public static final double pivotSpeed = 0.2;
public static final double reversePivotSpeed = -0.2;
public static final double stopPivotSpeed = 0.0;
}
}
1 change: 1 addition & 0 deletions src/main/java/frc/robot/RobotContainer.java
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Expand Up @@ -8,6 +8,7 @@
import edu.wpi.first.wpilibj2.command.Commands;

public class RobotContainer {

public RobotContainer() {
configureBindings();
}
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60 changes: 49 additions & 11 deletions src/main/java/frc/robot/subsystems/IntakeSubsystem.java
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Expand Up @@ -4,39 +4,77 @@

package frc.robot.subsystems;


import com.revrobotics.spark.SparkLowLevel.MotorType;
import com.revrobotics.spark.SparkMax;
import com.revrobotics.spark.config.SparkBaseConfig.IdleMode;
import com.revrobotics.spark.config.SparkMaxConfig;
import edu.wpi.first.wpilibj.DutyCycleEncoder;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;


public class IntakeSubsystem extends SubsystemBase {
/** Creates a new IntakeSubsystem. */
private final SparkMax intakeMotor = new SparkMax(10, MotorType.kBrushless);
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);


public IntakeSubsystem() {
}
SparkMaxConfig config = new SparkMaxConfig();
config.inverted(false)
.smartCurrentLimit(30)
.idleMode(IdleMode.kBrake);

private void intake() {

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

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/github/workspace/./src/main/java/frc/robot/subsystems/IntakeSubsystem.java:31:4: warning: 'ctor def' child has incorrect indentation level 3, expected level should be 4. (com.puppycrawl.tools.checkstyle.checks.indentation.IndentationCheck)
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@kennhung kennhung Feb 2, 2026

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這個縮排問題要記得修正喔

pivotLeft.configure(config, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters);
pivotRight.configure(config, SparkMax.ResetMode.kResetSafeParameters, SparkMax.PersistMode.kPersistParameters);
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@kennhung kennhung Feb 2, 2026

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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.

}

private void reverseIntake() {

public void intake() {
intakeMotor.set(0.5);
}

private void stopIntake() {
public void reverseIntake() {
intakeMotor.set(-0.5);
}

public void stopIntake() {
intakeMotor.set(0);
}

private void rotateUp() {
public void rotateUp() {
pivotLeft.set(0.2);
pivotRight.set(-0.2);
}

public void rotateDown() {
pivotLeft.set(-0.2);
pivotRight.set(0.2);
}

private void rotateDown() {
public void stopRotate() {
pivotLeft.set(0);
pivotRight.set(0);
}

public void deployIntake() {
rotateDown();
}

private void stopRotate() {
public void retractIntake() {
rotateUp();
}

public double getPivotAbsolutePosition() {
return pivotEncoder.get();
}

@Override
public void periodic() {
// This method will be called once per scheduler run
SmartDashboard.putNumber("Pivot Absolute Pos", getPivotAbsolutePosition());
SmartDashboard.putBoolean("Pivot Encoder Connected", pivotEncoder.isConnected());
Comment on lines +77 to +78
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@BrianHu0925 BrianHu0925 Feb 1, 2026

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DashBoard 的命名方式確定了記得更改一下喔

}
}
}
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