Switch intake rollers to Spark/NEO Vortex#188
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nlaverdure merged 6 commits intomainfrom Apr 21, 2026
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- Robot.java: use RollerIOSpark instead of RollerIOTalonFX for both rollers - IntakeConstants: remove Kraken/TalonFX-specific gains and DCMotor gearbox; add numMotors constant - RollerIOSpark/SimSpark: make PID gains and maxTangentialVelocity static; fix RollerIOSimSpark to accept RollerConfig and use intake constants instead of kicker constants - RollerIOTalonFX/SimTalonFX: move Slot0/Slot1 gain configs into each class Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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Summary
Robot.javato useRollerIOSpark(NEO Vortex / SparkFlex) instead ofRollerIOTalonFX(Kraken) for both upper and lower intake rollersIntakeConstantsand intoRollerIOTalonFX/RollerIOSimTalonFXwhere they belongRollerIOSimSparkto accept aRollerConfigand import constants fromIntakeConstants(was incorrectly importing kicker constants from the feeder subsystem)KP,KD, andmaxTangentialVelocitystatic inRollerIOSpark/RollerIOSimSparknumMotors = 1constant toIntakeConstants.RollerConstantsTest plan
RollerIOSparkRollerIOSimSparkusing the updated configRollerIOTalonFXandRollerIOSimTalonFXstill compile and function correctly with gains moved inline🤖 Generated with Claude Code