Package frc.robot.subsystems.intake

Class Intake

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.intake.Intake
All Implemented Interfaces:
Sendable, Subsystem
public class Intake extends SubsystemBase
Intake Subsystem

  • Constructor Details

    • Intake

      public Intake(IntakeIO io, PumbaaViz viz)
      Intake Subsystem
      Parameters:
      io - IO Layer
      viz - Sim Visualization

  • Method Details

    • periodic

      public void periodic()

    • setIntakeMotor

      public void setIntakeMotor(double percentage)
      Set the power of both intake motors
      Parameters:
      percentage - 0-1 power for the intake motors

    • setIndexerMotor

      public void setIndexerMotor(double percentage)
      Set the power for the indexer motor
      Parameters:
      percentage - 0-1 power for the indexer motor

    • getIndexerBeamBrakeStatus

      public boolean getIndexerBeamBrakeStatus()
      Get the status of the indexer beam brake.
      Returns:
      True if beam brake is broken, False if open

    • getintakeBeamBrakeStatus

      public boolean getintakeBeamBrakeStatus()
      Get the status of the intake beam brake.
      Returns:
      True if beam brake is broken, False if open

    • runIntakeMotor

      public Command runIntakeMotor(double intakeSpeed, double indexerSpeed)
      Command to run the intake motor and indexer until the sensor trips
      Returns:
      Command to run the intake and indexer motors

    • runIntakeMotorNonStop

      public Command runIntakeMotorNonStop(double intakeSpeed, double indexerSpeed)
      Command to run the intake motor and indexer until the sensor trips
      Returns:
      Command to run the intake and indexer motors

    • runIndexerMotor

      public Command runIndexerMotor(double speed)
      Command to run the indexer
      Returns:
      Command to run the indexer motors