speeds

Author: ds12a

src/main/java/frc/robot/constants/CoralConstants.java

@@ -21,9 +21,8 @@ public class CoralConstants {
 
   public static final AngularVelocity kCloseEnough = RotationsPerSecond.of(0.1);
 
-  public static final AngularVelocity kIntakingSpeed = null;
-
-  public static final AngularVelocity kEjectingSpeed = null;
+  public static final AngularVelocity kIntakingSpeed = RotationsPerSecond.of(-1);
+  public static final AngularVelocity kEjectingSpeed = RotationsPerSecond.of(1);
 
   // Coral Talon FX Config
   public static TalonFXSConfiguration getFXConfig() {
@@ -33,7 +32,6 @@ public static TalonFXSConfiguration getFXConfig() {
         new CurrentLimitsConfigs()
             .withStatorCurrentLimit(10)
             .withStatorCurrentLimitEnable(false)
-            .withStatorCurrentLimit(20)
             .withSupplyCurrentLimit(10)
             .withSupplyCurrentLowerLimit(8)
             .withSupplyCurrentLowerTime(0.02)
@@ -47,7 +45,7 @@ public static TalonFXSConfiguration getFXConfig() {
             .withForwardLimitType(ForwardLimitTypeValue.NormallyOpen)
             .withForwardLimitSource(ForwardLimitSourceValue.LimitSwitchPin)
             .withReverseLimitAutosetPositionEnable(false)
-            .withReverseLimitEnable(false)
+            .withReverseLimitEnable(true)
             .withReverseLimitType(ReverseLimitTypeValue.NormallyOpen)
             .withReverseLimitSource(ReverseLimitSourceValue.LimitSwitchPin);
     fxsConfig.HardwareLimitSwitch = hwLimit;

src/main/java/frc/robot/subsystems/coral/CoralIO.java

@@ -11,8 +11,8 @@ public interface CoralIO {
   @AutoLog
   public static class CoralIOInputs {
     public AngularVelocity velocity = RotationsPerSecond.of(0.0);
-    public boolean isFwdLimitSwitchClosed = false;
-    public boolean isRevLimitSwitchClosed = false;
+    public boolean isFwdBeamBroken = false;
+    public boolean isRevBeamBroken = false;
   }
 
   public default void setVelocity(AngularVelocity velocity) {}

src/main/java/frc/robot/subsystems/coral/CoralIOFX.java

@@ -69,8 +69,8 @@ public void enableRevLimitSwitch(boolean enabled) {
   public void updateInputs(CoralIOInputs inputs) {
     BaseStatusSignal.refreshAll(curVelocity, fwdLimitSwitch, revLimitSwitch);
     inputs.velocity = curVelocity.getValue();
-    inputs.isFwdLimitSwitchClosed = fwdLimitSwitch.getValue().value == 1; // FIXME check right value
-    inputs.isRevLimitSwitchClosed = revLimitSwitch.getValue().value == 0; // FIXME check right value
+    inputs.isFwdBeamBroken = fwdLimitSwitch.getValue().value == 0; // FIXME check right value
+    inputs.isRevBeamBroken = revLimitSwitch.getValue().value == 0; // FIXME check right value
   }
 
   @Override

src/main/java/frc/robot/subsystems/coral/CoralSubsystem.java

@@ -16,7 +16,7 @@ public class CoralSubsystem extends MeasurableSubsystem implements ClosedLoopSpe
   private final CoralIO io;
   private final CoralIOInputsAutoLogged inputs = new CoralIOInputsAutoLogged();
   private AngularVelocity setpoint = RotationsPerSecond.of(0.0);
-  private CoralState curState;
+  private CoralState curState = CoralState.IDLE;
   private org.slf4j.Logger logger = LoggerFactory.getLogger(CoralSubsystem.class);
 
   public CoralSubsystem(CoralIO io) {
@@ -50,11 +50,11 @@ public boolean atSpeed() {
   }
 
   public boolean isEnterBeamBroken() {
-    return inputs.isFwdLimitSwitchClosed; // FIXME correct one?
+    return inputs.isFwdBeamBroken;
   }
 
   public boolean isExitBeamBroken() {
-    return inputs.isRevLimitSwitchClosed; // FIXME correct one?
+    return inputs.isRevBeamBroken;
   }
 
   public void intake() {