make intake changes

src/main/java/frc/robot/arm/ArmIOTalonFX.java

@@ -78,7 +78,7 @@ public ArmIOTalonFX() {
     wristLeftMotorConfig.ClosedLoopGeneral.ContinuousWrap = true;
     wristLeftMotorConfig.Feedback.SensorToMechanismRatio = ArmConstants.kWristReduction;
     wristLeftMotorConfig.Slot0.GravityType = GravityTypeValue.Arm_Cosine;
-    wristLeftMotorConfig.Slot0.kP = 30.612;
+    wristLeftMotorConfig.Slot0.kP = 22.742;
     wristLeftMotorConfig.Slot0.kD = 5.5071;
     wristLeftMotorConfig.Slot0.kS = 0.57211;
     wristLeftMotorConfig.Slot0.kV = 2.5239;

src/main/java/frc/robot/intake/Intake.java

@@ -42,8 +42,8 @@ public void periodic() {
   public Command idle() {
     return this.run(
             () -> {
-              m_io.setTopRollerVoltage(0.0);
-              m_io.setBottomRollerVoltage(0.0);
+              m_io.setFrontRollersVoltage(0.0);
+              m_io.setBackRollersVoltage(0.0);
               m_io.setCenteringMotorsVoltage(0.0);
             })
         .withName("Idle (Intake)");
@@ -56,8 +56,8 @@ public Command stop() {
   public Command spit() {
     return this.run(
             () -> {
-              m_io.setTopRollerVoltage(-9.6);
-              m_io.setBottomRollerVoltage(-9.6);
+              m_io.setFrontRollersVoltage(-9.6);
+              m_io.setBackRollersVoltage(-9.6);
               m_io.setCenteringMotorsVoltage(-10.2);
             })
         .withName("Spit (Intake)");
@@ -66,8 +66,8 @@ public Command spit() {
   public Command intake() {
     return this.run(
             () -> {
-              m_io.setTopRollerVoltage(9.6);
-              m_io.setBottomRollerVoltage(9.6);
+              m_io.setFrontRollersVoltage(9.6);
+              m_io.setBackRollersVoltage(9.6);
               m_io.setCenteringMotorsVoltage(10.2);
             })
         .alongWith(
@@ -112,8 +112,8 @@ public void resetSimIntookPieces() {
   public Command feed() {
     return this.run(
         () -> {
-          m_io.setTopRollerVoltage(4.8);
-          m_io.setBottomRollerVoltage(4.8);
+          m_io.setFrontRollersVoltage(4.8);
+          m_io.setBackRollersVoltage(4.8);
           m_io.setCenteringMotorsVoltage(6.0);
         });
   }

src/main/java/frc/robot/intake/IntakeIO.java

@@ -21,9 +21,9 @@ public class IntakeIOInputs {
 
   public default void updateInputs(IntakeIOInputs inputs) {}
 
-  public default void setTopRollerVoltage(double volts) {}
+  public default void setFrontRollersVoltage(double volts) {}
 
-  public default void setBottomRollerVoltage(double volts) {}
+  public default void setBackRollersVoltage(double volts) {}
 
   public default void setCenteringMotorsVoltage(double volts) {}
 

src/main/java/frc/robot/intake/IntakeIOSim.java

@@ -39,12 +39,12 @@ public void updateInputs(IntakeIOInputs inputs) {
   }
 
   @Override
-  public void setTopRollerVoltage(double voltage) {
+  public void setFrontRollersVoltage(double voltage) {
     m_topRollerAppliedVolts = MathUtil.clamp(voltage, -12.0, 12.0);
   }
 
   @Override
-  public void setBottomRollerVoltage(double voltage) {
+  public void setBackRollersVoltage(double voltage) {
     m_bottomRollerAppliedVolts = MathUtil.clamp(voltage, -12.0, 12.0);
   }
 

src/main/java/frc/robot/intake/IntakeIOSparkMAX.java

@@ -45,12 +45,12 @@ public void updateInputs(IntakeIOInputs inputs) {
   }
 
   @Override
-  public void setTopRollerVoltage(double volts) {
+  public void setFrontRollersVoltage(double volts) {
     topRollerMotor.setVoltage(volts);
   }
 
   @Override
-  public void setBottomRollerVoltage(double volts) {
+  public void setBackRollersVoltage(double volts) {
     bottomRollerMotor.setVoltage(volts);
   }
 

src/main/java/frc/robot/intake/IntakeIOTalonFX.java

@@ -13,7 +13,7 @@
 
 public class IntakeIOTalonFX implements IntakeIO {
 
-  private final TalonFX m_topRollerMotor, m_bottomRollerMotor;
+  private final TalonFX m_frontRollersMotor, m_backRollersMotor;
   private final BaseTalon m_centeringMotors;
 
   private final StatusSignal<Double> m_topRollerVelocitySignal,
@@ -24,28 +24,28 @@ public class IntakeIOTalonFX implements IntakeIO {
       m_bottomRollerCurrentSignal;
 
   public IntakeIOTalonFX() {
-    m_topRollerMotor = new TalonFX(22, Constants.kSuperstructureCanBus);
-    m_bottomRollerMotor = new TalonFX(23, Constants.kSuperstructureCanBus);
+    m_frontRollersMotor = new TalonFX(22, Constants.kSuperstructureCanBus);
+    m_backRollersMotor = new TalonFX(23, Constants.kSuperstructureCanBus);
     m_centeringMotors = new BaseTalon(24, "Talon SRX", "rio");
-    m_topRollerMotor.getConfigurator().apply(new TalonFXConfiguration());
-    m_bottomRollerMotor.getConfigurator().apply(new TalonFXConfiguration());
+    m_frontRollersMotor.getConfigurator().apply(new TalonFXConfiguration());
+    m_backRollersMotor.getConfigurator().apply(new TalonFXConfiguration());
     final CurrentLimitsConfigs currentLimits =
         new CurrentLimitsConfigs().withSupplyCurrentLimit(40.0).withSupplyCurrentLimitEnable(true);
-    m_topRollerMotor.getConfigurator().apply(currentLimits);
-    m_bottomRollerMotor.getConfigurator().apply(currentLimits);
+    m_frontRollersMotor.getConfigurator().apply(currentLimits);
+    m_backRollersMotor.getConfigurator().apply(currentLimits);
 
     m_centeringMotors.configSupplyCurrentLimit(
         new SupplyCurrentLimitConfiguration(true, 40.0, 0.0, 1.0), 1000);
     m_centeringMotors.configVoltageCompSaturation(12.0);
     m_centeringMotors.enableVoltageCompensation(true);
 
-    m_topRollerVelocitySignal = m_topRollerMotor.getVelocity();
-    m_topRollerAppliedVoltageSignal = m_topRollerMotor.getMotorVoltage();
-    m_topRollerCurrentSignal = m_topRollerMotor.getSupplyCurrent();
+    m_topRollerVelocitySignal = m_frontRollersMotor.getVelocity();
+    m_topRollerAppliedVoltageSignal = m_frontRollersMotor.getMotorVoltage();
+    m_topRollerCurrentSignal = m_frontRollersMotor.getSupplyCurrent();
 
-    m_bottomRollerVelocitySignal = m_bottomRollerMotor.getVelocity();
-    m_bottomRollerAppliedVoltageSignal = m_bottomRollerMotor.getMotorVoltage();
-    m_bottomRollerCurrentSignal = m_bottomRollerMotor.getSupplyCurrent();
+    m_bottomRollerVelocitySignal = m_backRollersMotor.getVelocity();
+    m_bottomRollerAppliedVoltageSignal = m_backRollersMotor.getMotorVoltage();
+    m_bottomRollerCurrentSignal = m_backRollersMotor.getSupplyCurrent();
 
     BaseStatusSignal.setUpdateFrequencyForAll(
         50.0,
@@ -55,7 +55,7 @@ public IntakeIOTalonFX() {
         m_bottomRollerVelocitySignal,
         m_bottomRollerAppliedVoltageSignal,
         m_bottomRollerCurrentSignal);
-    ParentDevice.optimizeBusUtilizationForAll(m_topRollerMotor, m_bottomRollerMotor);
+    ParentDevice.optimizeBusUtilizationForAll(m_frontRollersMotor, m_backRollersMotor);
   }
 
   @Override
@@ -83,13 +83,13 @@ public void updateInputs(IntakeIOInputs inputs) {
   }
 
   @Override
-  public void setTopRollerVoltage(double volts) {
-    m_topRollerMotor.setVoltage(volts);
+  public void setFrontRollersVoltage(double volts) {
+    m_frontRollersMotor.setVoltage(volts);
   }
 
   @Override
-  public void setBottomRollerVoltage(double volts) {
-    m_bottomRollerMotor.setVoltage(volts);
+  public void setBackRollersVoltage(double volts) {
+    m_backRollersMotor.setVoltage(volts);
   }
 
   @Override
@@ -99,8 +99,8 @@ public void setCenteringMotorsVoltage(double volts) {
 
   @Override
   public void stopRollers() {
-    m_topRollerMotor.stopMotor();
-    m_bottomRollerMotor.stopMotor();
+    m_frontRollersMotor.stopMotor();
+    m_backRollersMotor.stopMotor();
     m_centeringMotors.set(ControlMode.PercentOutput, 0.0);
   }
 }

src/main/java/frc/robot/lights/Lights.java

@@ -17,7 +17,7 @@
 
 public class Lights extends SubsystemBase {
 
-  private final int kLedCount = 8;
+  private final int kLedCount = Constants.kIsViper ? 8 : 32;
   private final CANdle m_ledController;
 
   public Lights() {