added second solenoid

flamingchickens1540 · Dec 12, 2023 · cb626b7 · cb626b7
1 parent 395526e
commit cb626b7
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Showing 2 changed files with 9 additions and 5 deletions.
diff --git a/src/main/java/org/team1540/bunnybotTank2023/Constants.java b/src/main/java/org/team1540/bunnybotTank2023/Constants.java
@@ -45,7 +45,8 @@ public static class DrivetrainConstants {
     }
 
     public static class IntakeConstants {
-        public static final int SOLENOID_PORT_NUMBER = 1;
+        public static final int SOLENOID_1_PORT_NUMBER = 1;
+        public static final int SOLENOID_2_PORT_NUMBER = 2;
         public static final int MOTOR_ID = 5;
     }
 

diff --git a/src/main/java/org/team1540/bunnybotTank2023/io/intake/IntakeIOReal.java b/src/main/java/org/team1540/bunnybotTank2023/io/intake/IntakeIOReal.java
@@ -11,21 +11,24 @@
 import javax.naming.ldap.Control;
 
 public class IntakeIOReal implements IntakeIO {
-    private final Solenoid solenoid = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.IntakeConstants.SOLENOID_PORT_NUMBER);
+    private final Solenoid solenoid1 = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.IntakeConstants.SOLENOID_1_PORT_NUMBER);
+    private final Solenoid solenoid2 = new Solenoid(PneumaticsModuleType.CTREPCM, Constants.IntakeConstants.SOLENOID_2_PORT_NUMBER);
     private final VictorSPX motor = new VictorSPX(Constants.IntakeConstants.MOTOR_ID);
     public IntakeIOReal() {
-        solenoid.set(false);
+        solenoid1.set(false);
+        solenoid2.set(false);
         motor.setNeutralMode(NeutralMode.Brake);
         motor.setInverted(false);
     }
     @Override
     public void setFold(boolean fold) {
-        solenoid.set(fold);
+        solenoid1.set(fold);
+        solenoid2.set(fold);
     }
 
     @Override
     public void updateInputs(IntakeInputs inputs) {
-        inputs.folded = solenoid.get();
+        inputs.folded = solenoid1.get();
         inputs.motorAppliedVolts = motor.getMotorOutputVoltage();
         inputs.motorCurrentAmps = motor.getMotorOutputPercent();
         inputs.motorVelocity = motor.getActiveTrajectoryVelocity();