intake

Author: LeanMeanBeanMachine4774

components/intake.py

@@ -2,7 +2,7 @@
 
 import numpy as np
 import wpilib
-from magicbot import feedback, tunable
+from magicbot import feedback, tunable, will_reset_to
 from phoenix5 import ControlMode, TalonSRX
 from rev import (
     SparkMax,
@@ -23,6 +23,7 @@
 
 class IntakeComponent:
     intake_output = tunable(0.9)
+    desired_output = will_reset_to(0.0)
 
     # Offset is measured in the vertical position
     VERTICAL_ENCODER_VALUE = 4.592024
@@ -42,8 +43,6 @@ def __init__(self, intake_mech_root: wpilib.MechanismRoot2d) -> None:
         self.intake_motor = TalonSRX(TalonId.INTAKE)
         self.intake_motor.setInverted(True)
 
-        self.desired_output = 0.0
-
         self.arm_motor = SparkMax(SparkId.INTAKE_ARM, SparkMax.MotorType.kBrushless)
         self.encoder = DutyCycleEncoder(DioChannel.INTAKE_ENCODER, math.tau, 0)
         configure_through_bore_encoder(self.encoder)
@@ -210,8 +209,6 @@ def on_enable(self) -> None:
     def execute(self) -> None:
         self.intake_motor.set(ControlMode.PercentOutput, self.desired_output)
 
-        self.desired_output = 0.0
-
         self.tracked_state = self.motion_profile.calculate(
             wpilib.Timer.getFPGATimestamp() - self.last_setpoint_update_time,
             self.initial_state,