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Auto eject coral when intake motor's stall #145

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Auto eject coral when intake motor's stall #145

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8a77fe1
fixing jade's bad variable names and implementing auto eject when mot…
Saxomophone Jul 28, 2025
bf24544
removed unnecessary runOnce
Saxomophone Jul 28, 2025
416ac4c
added back negative voltage where accidently removed
Saxomophone Jul 28, 2025
5b41522
Merge branch 'master' into ava/auto-eject-stuck-coral
Saxomophone Aug 12, 2025
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7 changes: 6 additions & 1 deletion src/main/java/org/curtinfrc/frc2025/Robot.java
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Original file line number Diff line number Diff line change
Expand Up @@ -520,7 +520,6 @@ public Robot() {
controller
.leftStick()
.whileTrue(ejector.eject(15).withInterruptBehavior(InterruptionBehavior.kCancelIncoming));
controller.povUp().whileTrue(intake.intake(-4));

intake
.backSensor
Expand Down Expand Up @@ -552,6 +551,12 @@ public Robot() {
.andThen(ejector.stop())
.withInterruptBehavior(InterruptionBehavior.kCancelSelf));

intake.motorStalled.whileTrue(
Commands.runOnce(
() -> {
intake
.intake(-4);
}));
ejector.backSensor.whileTrue(intake.stop());

// Reset gyro to 0° when B button is pressed
Expand Down
9 changes: 9 additions & 0 deletions src/main/java/org/curtinfrc/frc2025/subsystems/intake/Intake.java
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
import edu.wpi.first.wpilibj2.command.Command;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
import edu.wpi.first.wpilibj2.command.button.Trigger;
import org.littletonrobotics.junction.AutoLogOutput;
import org.littletonrobotics.junction.Logger;

public class Intake extends SubsystemBase {
Expand All @@ -16,6 +17,14 @@ public Intake(IntakeIO io) {
public final Trigger frontSensor = new Trigger(() -> inputs.frontSensor);
public final Trigger backSensor = new Trigger(() -> inputs.backSensor);

@AutoLogOutput(key = "Intake/motorStalled")
public final Trigger motorStalled =
new Trigger(
() ->
inputs.angularVelocityRotationsPerMinute < 6
&& inputs.appliedVolts > 0
&& inputs.currentAmps > 30);

@Override
public void periodic() {
io.updateInputs(inputs);
Expand Down
12 changes: 6 additions & 6 deletions src/main/java/org/curtinfrc/frc2025/subsystems/intake/IntakeIOSim.java
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Expand Up @@ -10,20 +10,20 @@
public class IntakeIOSim implements IntakeIO {
private final DCMotor intakeMotor = DCMotor.getNEO(1);
private final DCMotorSim intakeMotorSim;
private final SimDevice frontImpl;
private final SimDevice frontSensorImpl;
private final SimBoolean frontSensor;
private final SimDevice backImpl;
private final SimDevice backSensorImpl;
private final SimBoolean backSensor;
private double volts = 0;

public IntakeIOSim() {
intakeMotorSim =
new DCMotorSim(LinearSystemId.createDCMotorSystem(intakeMotor, 3, 1), intakeMotor);

frontImpl = SimDevice.create("IntakeSensorFront", 3);
frontSensor = frontImpl.createBoolean("IsTriggered", Direction.kInput, false);
backImpl = SimDevice.create("IntakeSensorBack", 4);
backSensor = backImpl.createBoolean("IsTriggered", Direction.kInput, false);
frontSensorImpl = SimDevice.create("IntakeSensorFront", 3);
frontSensor = frontSensorImpl.createBoolean("IsTriggered", Direction.kInput, false);
backSensorImpl = SimDevice.create("IntakeSensorBack", 4);
backSensor = backSensorImpl.createBoolean("IsTriggered", Direction.kInput, false);
}

@Override
Expand Down
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