Merge remote-tracking branch 'origin/main' into offseason-base

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

@@ -1,5 +1,6 @@
 package frc.robot.constants;
 
+import com.ctre.phoenix.motorcontrol.SupplyCurrentLimitConfiguration;
 import com.ctre.phoenix6.configs.CurrentLimitsConfigs;
 
 public class IntakeConstants {
@@ -17,5 +18,10 @@ public class IntakeConstants {
 
     public static final CurrentLimitsConfigs currentLimit = new CurrentLimitsConfigs();
 
+    public static final SupplyCurrentLimitConfiguration rollerSupplyCurrentLimit =
+            new SupplyCurrentLimitConfiguration();
+
+    public static final int rollerContinuousCurrentLimit = 90;
+
     public static final int intakeGPSensor = 99;
 }

src/main/java/frc/robot/subsystems/intake/IntakeRollerTalonFX.java

@@ -1,36 +1,37 @@
 package frc.robot.subsystems.intake;
 
-import com.ctre.phoenix6.configs.TalonFXConfiguration;
-import com.ctre.phoenix6.hardware.TalonFX;
-import com.ctre.phoenix6.signals.NeutralModeValue;
+import com.ctre.phoenix.motorcontrol.ControlMode;
+import com.ctre.phoenix.motorcontrol.NeutralMode;
+import com.ctre.phoenix.motorcontrol.can.TalonSRX;
 import edu.wpi.first.wpilibj.DigitalInput;
 import frc.robot.constants.IntakeConstants;
 
 public class IntakeRollerTalonFX implements IntakeRollerIO {
-    private final TalonFX intakeroller =
-            new TalonFX(IntakeConstants.idRoller, IntakeConstants.canbusRoller);
+    private final TalonSRX intakeroller = new TalonSRX(IntakeConstants.idRoller);
 
     private DigitalInput intakeGPSensor = new DigitalInput(IntakeConstants.intakeGPSensor);
 
     public IntakeRollerTalonFX() {
-        intakeroller.setVoltage(0);
+        intakeroller.set(ControlMode.PercentOutput, 0);
 
-        intakeroller
-                .getConfigurator()
-                .apply(new TalonFXConfiguration().withCurrentLimits(IntakeConstants.currentLimit));
+        intakeroller.enableVoltageCompensation(true);
 
-        intakeroller.setNeutralMode(NeutralModeValue.Brake);
+        // intakeroller.configSupplyCurrentLimit(IntakeConstants.rollerSupplyCurrentLimit);
+
+        // intakeroller.configContinuousCurrentLimit(IntakeConstants.rollerContinuousCurrentLimit);
+
+        intakeroller.setNeutralMode(NeutralMode.Brake);
     }
 
     public void updateInputs(IntakeRollerIOInputs inputs) {
-        inputs.speed = intakeroller.getVelocity().getValueAsDouble();
-        inputs.voltage = intakeroller.getMotorVoltage().getValueAsDouble();
-        inputs.temperature = intakeroller.getDeviceTemp().getValueAsDouble();
-        inputs.current = intakeroller.getStatorCurrent().getValueAsDouble();
+        inputs.speed = intakeroller.getSelectedSensorVelocity();
+        inputs.voltage = intakeroller.getMotorOutputVoltage();
+        inputs.temperature = intakeroller.getTemperature();
+        inputs.current = intakeroller.getStatorCurrent();
         inputs.sensor = intakeGPSensor.get();
     }
 
     public void setVoltage(double voltage) {
-        intakeroller.set(voltage);
+        intakeroller.set(ControlMode.PercentOutput, voltage / 12.0);
     }
 }