From 0536a3bcd46c3ef7f561be7e1c14a44d1d33704c Mon Sep 17 00:00:00 2001 From: OnDYCLaptop Date: Fri, 6 Mar 2026 15:03:26 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E5=B7=B2=E7=9F=A5=E9=97=AE?= =?UTF-8?q?=E9=A2=98?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- src/main/java/frc/robot/controls/IntakerControls.java | 4 +++- src/main/java/frc/robot/subsystems/ShooterSubsystem.java | 5 +++++ 2 files changed, 8 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc/robot/controls/IntakerControls.java b/src/main/java/frc/robot/controls/IntakerControls.java index b4cc3cb..2cff233 100644 --- a/src/main/java/frc/robot/controls/IntakerControls.java +++ b/src/main/java/frc/robot/controls/IntakerControls.java @@ -74,10 +74,12 @@ public class IntakerControls { return Commands.run(() -> { double getterspeed = 0; double conveyoyspeedforintake = 15; + double statorCurrent = ShooterSubsystem.getConveyorStatorCurrent(); if (controller.getLeftTriggerAxis() > 0.1) { - //getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed; + getterspeed = controller.getLeftTriggerAxis() * Constants.Intaker.IntakeGetterK + Constants.Intaker.Getterminspeed; ShooterSubsystem.setConveyorSpeedByRPS(conveyoyspeedforintake); } + IntakerSubsystem.setIntakerGetterSpeed(getterspeed); if(controller.getLeftY() < -0.5){ diff --git a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java index 64235f7..a059a36 100644 --- a/src/main/java/frc/robot/subsystems/ShooterSubsystem.java +++ b/src/main/java/frc/robot/subsystems/ShooterSubsystem.java @@ -158,6 +158,10 @@ public class ShooterSubsystem extends SubsystemBase { public void resetbackboardencoder(){ backboardEncoder.reset(); } + public double getConveyorStatorCurrent(){ + double statorCurrent = conveyorMotor.getStatorCurrent().getValueAsDouble(); + return statorCurrent; + } @Override public void periodic() { @@ -171,6 +175,7 @@ public class ShooterSubsystem extends SubsystemBase { shooterNetworkTable.getEntry("isBackboardAtTarget").setBoolean(isBackboardAtTarget()); shooterNetworkTable.getEntry("distanceGetted").setDouble(getDistanceToHub()); shooterNetworkTable.getEntry("distancetopassball").setDouble(getDistanceToPassball()); + shooterNetworkTable.getEntry("statorCurrent").setDouble(getConveyorStatorCurrent()); } public double getDistanceToHub(){