Package frc.robot.subsystems

Class WristIntake

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.WristIntake

All Implemented Interfaces:

Sendable, Subsystem

public class WristIntake
extends SubsystemBase

Creates the subsystem for the wrist intake.

Constructor Summary

Constructors

Constructor	Description
WristIntake()	Create Wrist Intake Subsystem

Method Summary

Modifier and Type	Method	Description
boolean	getVoltageSpike(boolean passedTime)
void	intake()
void	panic()	Releases GPs in intake (if any).
void	periodic()
void	setInvert(boolean invert)
void	setMotor(double power)	Set power of intake motors
void	setMotorRaw(double power)	Set power of intake motors ignoring direction

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

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.wpilibj2.command.Subsystem

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

Constructor Details

WristIntake

public WristIntake()

Create Wrist Intake Subsystem

Method Details

periodic

public void periodic()

intake

public void intake()

setMotor

public void setMotor(double power)

Set power of intake motors

Parameters:

power - power of motors from -1 to 1

setMotorRaw

public void setMotorRaw(double power)

Set power of intake motors ignoring direction

Parameters:

power - power of motors from -1 to 1

panic

public void panic()

Releases GPs in intake (if any). Primarily used to prevent the accidental holding of multiple GPs penalty.

getVoltageSpike

public boolean getVoltageSpike(boolean passedTime)

setInvert

public void setInvert(boolean invert)