Package frc.robot.intake

Class Intake

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.intake.Intake

All Implemented Interfaces:

edu.wpi.first.networktables.NTSendable, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem, SpectrumSubsystem

public class Intake
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Intake.IntakeConfig

Nested classes/interfaces inherited from class frc.spectrumLib.mechanism.Mechanism

Mechanism.Config, Mechanism.FollowerConfig

Field Summary

Fields inherited from class frc.spectrumLib.mechanism.Mechanism

followerMotors, motor

Constructor Summary

Constructors

Constructor	Description
Intake(Intake.IntakeConfig config)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	defaultHoldOrStop()
boolean	hasIntakeGamePiece()
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
edu.wpi.first.wpilibj2.command.Command	intakeAlgae(DoubleSupplier torque, DoubleSupplier current)
edu.wpi.first.wpilibj2.command.Command	intakeCoral(DoubleSupplier torque, DoubleSupplier current)
void	periodic()
edu.wpi.first.wpilibj2.command.Command	runTCcurrentLimits(DoubleSupplier torqueCurrent, DoubleSupplier supplyCurrent)
edu.wpi.first.wpilibj2.command.Command	runTorqueFOC(DoubleSupplier torque)
edu.wpi.first.wpilibj2.command.Command	runVoltageCurrentLimits(DoubleSupplier voltage, DoubleSupplier supplyCurrent, DoubleSupplier torqueCurrent)
void	setupDefaultCommand()
void	setupStates()
void	setVoltageAndCurrentLimits(DoubleSupplier voltage, DoubleSupplier supply, DoubleSupplier torque)
void	simulationInit()
void	simulationPeriodic()

Methods inherited from class frc.spectrumLib.mechanism.Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, applyCurrentLimit, atCurrent, atDegrees, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, belowDegrees, belowPercentage, belowRotations, belowVelocityRPM, checkAvgCurrent, checkMaxCurrent, checkMinThresholdCurrent, coastMode, degreesToRotations, ensureBrakeMode, getCurrentCommandName, getFollowerMotors, getMotor, getName, getPositionDegrees, getPositionPercentage, getPositionRotations, getStatorCurrent, getTarget, getVelocityRPM, getVoltage, isAttached, moveToDegrees, moveToPercentage, moveToRotations, percentToRotations, rotationsToDegrees, rotationsToPercent, runCurrentLimits, runFocRotations, runningDefaultCommand, runPercentage, runStop, runTorqueCurrentFoc, runVelocity, runVelocityTcFocRpm, runVoltage, setBrakeMode, setCurrentLimits, setDynMMPositionFoc, setMMPosition, setMMPosition, setMMPositionFoc, setMMVelocityFOC, setMotorPosition, setPercentOutput, setTorqueCurrentFoc, setVelocity, setVelocityTCFOCrpm, setVelocityTorqueCurrentFOC, setVoltageOutput, stop, tareMotor, telemetryInit, toggleReverseSoftLimit, toggleSupplyCurrentLimit, toggleTorqueCurrentLimit, updateCurrent, updateVoltage

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd, startRun

Constructor Details

Intake

public Intake(Intake.IntakeConfig config)

Method Details

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

periodic in class Mechanism

setupStates

public void setupStates()

setupDefaultCommand

public void setupDefaultCommand()

initSendable

public void initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)

Specified by:

initSendable in interface edu.wpi.first.networktables.NTSendable

Overrides:

initSendable in class Mechanism

defaultHoldOrStop

public edu.wpi.first.wpilibj2.command.Command defaultHoldOrStop()

hasIntakeGamePiece

public boolean hasIntakeGamePiece()

runTorqueFOC

public edu.wpi.first.wpilibj2.command.Command runTorqueFOC(DoubleSupplier torque)

intakeCoral

public edu.wpi.first.wpilibj2.command.Command intakeCoral(DoubleSupplier torque,
 DoubleSupplier current)

intakeAlgae

public edu.wpi.first.wpilibj2.command.Command intakeAlgae(DoubleSupplier torque,
 DoubleSupplier current)

setVoltageAndCurrentLimits

public void setVoltageAndCurrentLimits(DoubleSupplier voltage,
 DoubleSupplier supply,
 DoubleSupplier torque)

runVoltageCurrentLimits

public edu.wpi.first.wpilibj2.command.Command runVoltageCurrentLimits(DoubleSupplier voltage,
 DoubleSupplier supplyCurrent,
 DoubleSupplier torqueCurrent)

runTCcurrentLimits

public edu.wpi.first.wpilibj2.command.Command runTCcurrentLimits(DoubleSupplier torqueCurrent,
 DoubleSupplier supplyCurrent)

simulationInit

public void simulationInit()

simulationPeriodic

public void simulationPeriodic()

Specified by:

simulationPeriodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

simulationPeriodic in class Mechanism