Fix frequencies

lasarobotics · Jan 30, 2025 · 587baaa · 587baaa
1 parent a837e43
commit 587baaa
Showing 3 changed files with 15 additions and 8 deletions.
diff --git a/src/main/java/frc/robot/BuildConstants.java b/src/main/java/frc/robot/BuildConstants.java
@@ -7,12 +7,12 @@ public final class BuildConstants {
   public static final String MAVEN_GROUP = "";
   public static final String MAVEN_NAME = "PH2025";
   public static final String VERSION = "unspecified";
-  public static final int GIT_REVISION = 23;
-  public static final String GIT_SHA = "0866b0bb17927ea745a4ed83cce85fbadb986ab9";
-  public static final String GIT_DATE = "2025-01-27 21:13:47 CST";
-  public static final String GIT_BRANCH = "develop";
-  public static final String BUILD_DATE = "2025-01-27 21:14:37 CST";
-  public static final long BUILD_UNIX_TIME = 1738034077092L;
+  public static final int GIT_REVISION = 32;
+  public static final String GIT_SHA = "a837e4346f6d07d238592b2bd345bd3d32c1c619";
+  public static final String GIT_DATE = "2025-01-29 18:01:41 CST";
+  public static final String GIT_BRANCH = "intake-work";
+  public static final String BUILD_DATE = "2025-01-29 18:11:37 CST";
+  public static final long BUILD_UNIX_TIME = 1738195897151L;
   public static final int DIRTY = 1;
 
   private BuildConstants(){}

diff --git a/src/main/java/frc/robot/Constants.java b/src/main/java/frc/robot/Constants.java
@@ -1,5 +1,6 @@
 package frc.robot;
 
+import static edu.wpi.first.units.Units.Hertz;
 import static edu.wpi.first.units.Units.Inches;
 import static edu.wpi.first.units.Units.RotationsPerSecond;
 
@@ -15,6 +16,7 @@
 import edu.wpi.first.math.geometry.Translation3d;
 import edu.wpi.first.units.measure.AngularVelocity;
 import edu.wpi.first.units.measure.Distance;
+import edu.wpi.first.units.measure.Frequency;
 import edu.wpi.first.units.measure.LinearVelocity;
 import frc.robot.generated.TunerConstants;
 
@@ -23,6 +25,11 @@ public static class Field {
     public static final AprilTagFieldLayout FIELD_LAYOUT = AprilTagFieldLayout.loadField(AprilTagFields.k2025Reefscape);
   }
 
+  public static class Frequencies {
+    public static final Frequency TALON_UPDATE_RATE = Hertz.of(50);
+    public static final Frequency BEAM_BREAK_UPDATE_RATE = Hertz.of(50);
+  }
+
   public static class Drive {
     public static final LinearVelocity MAX_SPEED = TunerConstants.kSpeedAt12Volts;
     public static final AngularVelocity MAX_ANGULAR_RATE = RotationsPerSecond.of(0.75); // TODO measure this value

diff --git a/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java b/src/main/java/frc/robot/subsystems/intake/IntakeSubsystem.java
@@ -77,8 +77,8 @@ public static Hardware initializeHardware() {
     Hardware intakeHardware = new Hardware(
       new Spark(Constants.IntakeHardware.FRONT_INTAKE_MOTOR_ID, MotorKind.NEO_VORTEX),
       new Spark(Constants.IntakeHardware.BACK_INTAKE_MOTOR_ID, MotorKind.NEO_VORTEX),
-      new LimitSwitch(Constants.IntakeHardware.FRONT_INTAKE_BEAM_BREAK, SwitchPolarity.NORMALLY_OPEN),
-      new LimitSwitch(Constants.IntakeHardware.BACK_INTAKE_BEAM_BREAK, SwitchPolarity.NORMALLY_OPEN)
+      new LimitSwitch(Constants.IntakeHardware.FRONT_INTAKE_BEAM_BREAK, SwitchPolarity.NORMALLY_OPEN, Constants.Frequencies.BEAM_BREAK_UPDATE_RATE),
+      new LimitSwitch(Constants.IntakeHardware.BACK_INTAKE_BEAM_BREAK, SwitchPolarity.NORMALLY_OPEN, Constants.Frequencies.BEAM_BREAK_UPDATE_RATE)
     );
     return intakeHardware;
   }