constant-inated

Author: SiPi1

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

@@ -21,9 +21,18 @@ public final class Constants {
   public static class IntakeConstants {
     public static final int SPINTAKEID = 10;
     public static final int DEPLOYID = 12;
+
     public static final double INTAKE_SPEED = 1;
     public static final double SPITAKE_SPEED = -1;
     public static final double DEPLOY_SPEED = 1;
+
+    public static final double kP1 = 0.1;
+    public static final double kI1 = 0;
+    public static final double kD1 = 0;
+    
+    public static final double kP2 = 0.0001;
+    public static final double kI2 = 0;
+    public static final double kD2 = 0;
   }
 
   public static enum Mode {

src/main/java/frc/robot/subsystems/Intake/Deploy.java

@@ -12,11 +12,11 @@
 import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants;
+import frc.robot.Constants.IntakeConstants;
 
 public class Deploy extends SubsystemBase {
   /** Creates a new Deploy. */
-  SparkMax deployMotor = new SparkMax(Constants.IntakeConstants.DEPLOYID, MotorType.kBrushless);
+  SparkMax deployMotor = new SparkMax(IntakeConstants.DEPLOYID, MotorType.kBrushless);
 
   SparkMaxConfig config = new SparkMaxConfig();
 
@@ -30,7 +30,7 @@ public Command deployCMD() {
     // Deploys fuel
     return runOnce(
         () -> {
-          deployMotor.set(Constants.IntakeConstants.DEPLOY_SPEED);
+          deployMotor.set(IntakeConstants.DEPLOY_SPEED);
         });
   }
   // Stops motor

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

@@ -16,11 +16,11 @@
 import com.revrobotics.spark.config.SparkMaxConfig;
 import edu.wpi.first.wpilibj2.command.Command;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
-import frc.robot.Constants;
+import frc.robot.Constants.IntakeConstants;
 
 public class Intake extends SubsystemBase {
     SparkMax intakeMotor =
-      new SparkMax(Constants.IntakeConstants.SPINTAKEID, MotorType.kBrushless); // 10, for now
+      new SparkMax(IntakeConstants.SPINTAKEID, MotorType.kBrushless); // 10, for now
      RelativeEncoder encoder;
     SparkMaxConfig config = new SparkMaxConfig();
     SparkClosedLoopController controller = intakeMotor.getClosedLoopController();
@@ -40,14 +40,14 @@ public Intake() {
         .feedbackSensor(FeedbackSensor.kPrimaryEncoder)
         // Set PID values for position control. We don't need to pass a closed loop
         // slot, as it will default to slot 0.
-        .p(0.1)
-        .i(0)
-        .d(0)
+        .p(IntakeConstants.kP1)
+        .i(IntakeConstants.kI1)
+        .d(IntakeConstants.kD1)
         .outputRange(-1, 1)
         // Set PID values for velocity control in slot 1
-        .p(0.0001, ClosedLoopSlot.kSlot1)
-        .i(0, ClosedLoopSlot.kSlot1)
-        .d(0, ClosedLoopSlot.kSlot1)
+        .p(IntakeConstants.kP2, ClosedLoopSlot.kSlot1)
+        .i(IntakeConstants.kI2, ClosedLoopSlot.kSlot1)
+        .d(IntakeConstants.kD2, ClosedLoopSlot.kSlot1)
         .outputRange(-1, 1, ClosedLoopSlot.kSlot1)
         .feedForward
           // kV is now in Volts, so we multiply by the nominal voltage (12V)
@@ -78,14 +78,14 @@ public Command intakeCMD() {
     // Takes in
     return runOnce(
         () -> {
-          intakeMotor.set(Constants.IntakeConstants.INTAKE_SPEED);
+          intakeMotor.set(IntakeConstants.INTAKE_SPEED);
         });
   }
   // Spits out
   public Command spitakeCMD() {
     return runOnce(
         () -> {
-          intakeMotor.set(Constants.IntakeConstants.SPITAKE_SPEED);
+          intakeMotor.set(IntakeConstants.SPITAKE_SPEED);
         });
   }