Merge pull request #57 from 2491-NoMythic/Distance-Sensor

2491-NoMythic · Feb 10, 2024 · ec409b8 · ec409b8
2 parents eb9c1d4 + 85764a5
commit ec409b8
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Showing 2 changed files with 13 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/subsystems/IndexerSubsystem.java b/src/main/java/frc/robot/subsystems/IndexerSubsystem.java
@@ -5,6 +5,7 @@
 import com.revrobotics.CANSparkLowLevel.MotorType;
 import com.revrobotics.SparkAnalogSensor.Mode;
 
+import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
 import edu.wpi.first.wpilibj2.command.SubsystemBase;
 import frc.robot.settings.Constants.IndexerConstants;
 
@@ -18,7 +19,7 @@ public IndexerSubsystem() {
     }
 
     public boolean isNoteIn() {
-        return m_DistanceSensor.getVoltage()>1;
+        return m_DistanceSensor.getVoltage()>2;
     }
 
     public void on() {
@@ -32,4 +33,8 @@ public void off() {
     public void reverse() {
         m_IndexerMotor.set(-IndexerConstants.INDEXER_SPEED);
     }
+    @Override
+    public void periodic() {
+        SmartDashboard.putNumber("voltage sensor output", m_DistanceSensor.getVoltage());
+    }
 }
diff --git a/src/main/java/frc/robot/subsystems/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/IntakeSubsystem.java
@@ -6,12 +6,12 @@
 
  import com.revrobotics.CANSparkMax;
  import com.revrobotics.RelativeEncoder;
- import com.revrobotics.SparkPIDController;
+import com.revrobotics.SparkPIDController;
  import com.revrobotics.SparkRelativeEncoder;
  import com.revrobotics.CANSparkBase.ControlType;
 import com.revrobotics.CANSparkBase.IdleMode;
 import com.revrobotics.CANSparkLowLevel.MotorType;
- import edu.wpi.first.wpilibj2.command.SubsystemBase;
+import edu.wpi.first.wpilibj2.command.SubsystemBase;
  import frc.robot.settings.Constants.IntakeConstants;
 public class IntakeSubsystem extends SubsystemBase {
   /** Creates a new Intake. */
@@ -23,11 +23,11 @@ public class IntakeSubsystem extends SubsystemBase {
 
   double intakeRunSpeed;
   public IntakeSubsystem() {
-    CANSparkMax intake1 = new CANSparkMax(IntakeConstants.INTAKE_1_MOTOR, MotorType.kBrushless);
-    CANSparkMax intake2 = new CANSparkMax(IntakeConstants.INTAKE_1_MOTOR, MotorType.kBrushless);
-    CANSparkMax brush1 = new CANSparkMax(IntakeConstants.BRUSH_1_MOTOR, MotorType.kBrushless);
-    CANSparkMax brush2 = new CANSparkMax(IntakeConstants.BRUSH_2_MOTOR, MotorType.kBrushless);
-    CANSparkMax brush3 = new CANSparkMax(IntakeConstants.BRUSH_3_MOTOR, MotorType.kBrushless);
+    intake1 = new CANSparkMax(IntakeConstants.INTAKE_1_MOTOR, MotorType.kBrushless);
+    intake2 = new CANSparkMax(IntakeConstants.INTAKE_1_MOTOR, MotorType.kBrushless);
+    brush1 = new CANSparkMax(IntakeConstants.BRUSH_1_MOTOR, MotorType.kBrushless);
+    brush2 = new CANSparkMax(IntakeConstants.BRUSH_2_MOTOR, MotorType.kBrushless);
+    brush3 = new CANSparkMax(IntakeConstants.BRUSH_3_MOTOR, MotorType.kBrushless);
 
     intake2.follow(intake1);
     intake2.setInverted(true);