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JHS-Viking-Robotics / FRC-2022

Code for the 2022 FRC season, now written in Java
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Hopper intake: low current applied inwards to hold balls in #31

Closed derickson2402 closed 2 years ago

derickson2402 commented 3 years ago

The Talon SRX on the Hopper Intake supports current control mode, where it will always match a specified current output. This is useful for something like the intake, where we may need to run the intake in very slowly in order to ensure that balls cannot fall out. By setting the current low, the intake will apply pressure but will never build up too much heat since we are only outputting a small current.

This will definitely need some testing to make sure that we don't burn out any motors. Additionally, we will need to test the motor in order to find an optimal current to use.

derickson2402 commented 3 years ago

Setting the current controlled "HOLD" mode in Hopper.setIntake(Intake.HOLD) to 0.5 amps, which is hopefully a safe default for now