Finalize Intake subsystem, resolves #24

Patribots4738 · Jan 21, 2024 · 8b5b1aa · 8b5b1aa
1 parent fc426e7
commit 8b5b1aa
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diff --git a/src/main/java/frc/robot/subsystems/Intake.java b/src/main/java/frc/robot/subsystems/Intake.java
@@ -39,7 +39,7 @@ public Command stopCommand() {
     }
 
     public Trigger hasGamePieceTrigger() {
-        return new Trigger(() -> (intake.getOutputCurrent() <= 7.0));
+        return new Trigger(() -> (intake.getOutputCurrent() > IntakeConstants.HAS_PIECE_CURRENT_THRESHOLD));
     }
 
 }

diff --git a/src/main/java/frc/robot/util/Constants.java b/src/main/java/frc/robot/util/Constants.java
@@ -262,6 +262,8 @@ public static final class IntakeConstants {
 
         public static final int INTAKE_FREE_CURRENT_LIMIT_AMPS = 15;
         public static final int INTAKE_STALL_CURRENT_LIMIT_AMPS = 7;
+
+        public static final int HAS_PIECE_CURRENT_THRESHOLD = 20;
     }
 
     public static final class FieldConstants {
-Original file line number
+Diff line change
@@ Expand Up / @@ -39,7 +39,7 @@ public Command stopCommand() { @@
         }
         public Trigger hasGamePieceTrigger() {
-            return new Trigger(() -> (intake.getOutputCurrent() <= 7.0));
+            return new Trigger(() -> (intake.getOutputCurrent() > IntakeConstants.HAS_PIECE_CURRENT_THRESHOLD));
         }
     }
@@ Expand Down @@