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

Field Summary

Fields

Modifier and Type	Field	Description
final frc.robot.subsystems.intake.IntakeInputsAutoLogged	inputs

Constructor Summary

Constructors

Constructor	Description
Intake(IntakeIO io)

Method Summary

Modifier and Type	Method	Description
Command	extendHopper(double intakeSpeed)	Extends hopper
Command	intakeBalls()
Command	intakeBalls(double speed)	Run intake wheels
Command	jerkIntake()
void	periodic()
Command	retractHopper(double intakeSpeed)	Retracts hopper
void	runIntakeOnly(double speed)
Command	stop()	Stops the hopper from expanding

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, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

inputs

public final frc.robot.subsystems.intake.IntakeInputsAutoLogged inputs

Constructor Details

Intake

public Intake(IntakeIO io)

Method Details

periodic

public void periodic()

runIntakeOnly

public void runIntakeOnly(double speed)

stop

public Command stop()

Stops the hopper from expanding

extendHopper

public Command extendHopper(double intakeSpeed)

Extends hopper

retractHopper

public Command retractHopper(double intakeSpeed)

Retracts hopper

intakeBalls

public Command intakeBalls(double speed)

Run intake wheels

intakeBalls

public Command intakeBalls()

jerkIntake

public Command jerkIntake()