Algae roller subsystem: intakeRoller and intakePivot #9
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; | ||
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Make sure you add the imports(forgot to tell you while we were reviewing)
import com.revrobotics.CANSparkMax.IdleMode;
import com.revrobotics.CANSparkMaxLowLevel.MotorType;
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That second one is already present, while the first one is from the old version of REVLib.
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; |
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I think this is goofy vscode being dumb get rid of line 9 I think
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No, this is correct, leave it.
| package frc.robot.subsystems.algaeIntake; | ||
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import com.revrobotics.CANSparkMax; |
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So, this is code for REVLib 2024. REV changed a lot of things in 2025, see https://docs.revrobotics.com/brushless/revlib/revlib-overview/migrating-to-revlib-2025. So CANSparkMax should just be SparkMax now, among other changes.
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| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; |
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No, this is correct, leave it.
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
| import com.revrobotics.CANSparkMax; | ||
| import com.revrobotics.spark.SparkLowLevel.MotorType; | ||
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That second one is already present, while the first one is from the old version of REVLib.
| intakeRoller.setIdleMode(IdleMode.kBrake); | ||
| intakePivot.setIdleMode(IdleMode.kBrake); | ||
| intakeRoller.setSmartCurrentLimit(40); | ||
| intakePivot.setSmartCurrentLimit(40); | ||
| intakeRoller.setInverted(false); | ||
| intakePivot.setInverted(false); |
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Similarly, all of the configuration API has changed, see the link I sent above; send a message if you need help.
| intakeRoller.stopMotor(); | ||
| } | ||
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| public void stopIntakePivot(){ |
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Not really a major issue but it's a pet peeve of mine: there should be a space between the closing parenthesis and the opening curly brace. The code will work without it but it looks worse this way.
Added methods for intakeRoller and intakePivot. Closes #6