Class IntakeExtension

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.subsystems.intakeExtension.IntakeExtension

All Implemented Interfaces:

Subsystem

public class IntakeExtension
extends Mechanism

The Intake Extension subsystem. Extends and retracts the fuel intake.

The deploy is a rack-and-pinion driven by two independent motors: a left axis (this class, CAN id 4, Clockwise_Positive) and a right axis (IntakeExtension.IntakeExtensionRight, CAN id 5, CounterClockwise_Positive). Each side runs its own closed-loop position control rather than one following the other, so a side that skips teeth on the rack can be driven on its own to resync.

Normal deploy/retract states command both axes to the same setpoint. The RESYNC state re-establishes truth by driving each side independently into the fully-extended hard stop (using a soft-limit-bypassing voltage), detecting the stall, and re-zeroing that side's encoder at maxRotations. This recovers from a tooth skip, which otherwise leaves the motor encoder reading a position the rack is no longer at.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	IntakeExtension.IntakeExtensionConfig
static class	IntakeExtension.IntakeExtensionRight	The right deploy axis.
static enum	IntakeExtension.SystemState
static enum	IntakeExtension.WantedState

Nested classes/interfaces inherited from class Mechanism

Mechanism.Config, Mechanism.FollowerConfig

Field Summary

Fields inherited from class Mechanism

followerMotors, motor

Constructor Summary

Constructors

Constructor	Description
IntakeExtension(IntakeExtension.IntakeExtensionConfig config)

Method Summary

Modifier and Type	Method	Description
IntakeExtension.IntakeExtensionConfig	getConfig()
IntakeExtension.IntakeExtensionRight	getRight()
frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionSim	getSim()
boolean	isResyncComplete()	Whether the most recent resync has finished homing both sides.
void	periodic()	Called once per scheduler loop.
void	resetCurrentPositionToMax()
Command	resetCurrentPositionToMaxCommand()
Command	resetToInitialPos()
Command	resyncCommand()	Runs a full resync: drives both sides into the extended hard stop, re-zeros each, then returns the subsystem to STOPPED.
void	setBrakeMode(boolean isInBrake)	Sets brake mode on both deploy axes.
void	setWantedState(IntakeExtension.WantedState state)
void	simulationInit()

Methods inherited from class Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, all, applyCurrentLimit, atCurrent, atDegrees, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, belowDegrees, belowPercentage, belowRotations, belowVelocityRPM, checkAvgCurrent, checkMaxCurrent, checkMinThresholdCurrent, clampToSoftLimits, clearTrackingStop, coastMode, degreesToRotations, ensureBrakeMode, getCurrentCommandName, getFollowerMotors, getInputs, getLatencyCompensatedPositionDegrees, getLatencyCompensatedPositionRotations, getMotor, getName, getPositionDegrees, getPositionDegreesUncached, getPositionPercentage, getPositionRotations, getStatorCurrent, getSupplyCurrent, getTarget, getTemp, getVelocityRPM, getVelocityTargetRPS, getVoltage, hasSoftLimits, isAtRotations, isAttached, isAtTargetPosition, isMotorConnected, isPositionLost, isPositionWritePending, isTrackingStopped, logBatteryUsage, logDiagnostics, logDiagnostics, motorResetThisLoop, moveToDegrees, moveToPercentage, moveToRotations, percentToRotations, refreshSignalsOncePerLoop, rotationsToDegrees, rotationsToPercent, runCurrentLimits, runFocRotations, runningDefaultCommand, runPercentage, runStop, runTorqueCurrentFoc, runVelocity, runVelocityTcFocRPM, runVoltage, runVoltageNoSoftLimit, setCurrentLimits, setDynMMPositionFoc, setDynMMPositionVoltage, setMMPosition, setMMPosition, setMMPositionFoc, setMMVelocityFOC, setMotorPosition, setPercentOutput, setPosition, setPositionFocWithVelocity, setPositionWithVelocity, setTorqueCurrentFoc, setVelocity, setVelocityRPM, setVelocityTCFOCrpm, setVelocityTorqueCurrentFOC, setVoltageOutput, setVoltageOutputNoSoftLimit, simulateReboot, simulationPeriodic, softLimitsNeedReboot, stop, tareMotor, toggleReverseSoftLimit, toggleSupplyCurrentLimit, toggleTorqueCurrentLimit, updateInputs

Methods inherited from class Object

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

Methods inherited from interface Subsystem

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

Constructor Details

IntakeExtension

public IntakeExtension(IntakeExtension.IntakeExtensionConfig config)

Method Details

resetCurrentPositionToMax

public void resetCurrentPositionToMax()

resetCurrentPositionToMaxCommand

public Command resetCurrentPositionToMaxCommand()

resetToInitialPos

public Command resetToInitialPos()

setBrakeMode

public void setBrakeMode(boolean isInBrake)

Sets brake mode on both deploy axes.

Overrides:

setBrakeMode in class Mechanism

Parameters:

isInBrake - true to set brake mode; false to set coast mode

setWantedState

public void setWantedState(IntakeExtension.WantedState state)

isResyncComplete

public boolean isResyncComplete()

Whether the most recent resync has finished homing both sides.

resyncCommand

public Command resyncCommand()

Runs a full resync: drives both sides into the extended hard stop, re-zeros each, then returns the subsystem to STOPPED.

Returns:

a command that completes once both sides are re-zeroed

periodic

public void periodic()

Description copied from class: Mechanism

Called once per scheduler loop. Concrete subclasses should override to implement their periodic state-machine logic, telemetry, and sensor updates.

Specified by:

periodic in interface Subsystem

Overrides:

periodic in class Mechanism

simulationInit

public void simulationInit()

getConfig

public IntakeExtension.IntakeExtensionConfig getConfig()

getSim

public frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionSim getSim()

getRight

public IntakeExtension.IntakeExtensionRight getRight()