frc.team670.robot.subsystems

Class BaseIntake

java.lang.Object

Subsystem

frc.team670.robot.subsystems.RotatingSubsystem

frc.team670.robot.subsystems.BaseIntake

All Implemented Interfaces:

TunableSubsystem

Direct Known Subclasses:

Intake

public abstract class BaseIntake
extends RotatingSubsystem

Constructor Summary

Constructors

Constructor and Description
BaseIntake(TalonSRX rotatorTalon, double arbitrary_feedforward_constant, int forward_soft_limit, int reverse_soft_limit, boolean timeout, int QUAD_ENCODER_MIN, int QUAD_ENCODER_MAX, int CONTINUOUS_CURRENT_LIMIT, int PEAK_CURRENT_LIMIT, int offsetFromEncoderZero)

Method Summary

Modifier and Type	Method and Description
abstract java.awt.geom.Point2D.Double	getIntakeCoordinates() Returns the x, y coordinates of the top of the intake
abstract java.awt.geom.Point2D.Double	getMotionMagicDestinationCoordinates() Should return the setpoint coordinates for the motion magic on the base motor
abstract void	initDefaultCommand()
boolean	isDeployed()
abstract void	runIntake(double power, boolean runningIn) Runs the intake at a given percent power
void	runIntakeUsingCurrent(int current)
abstract void	setRotatorNeutralMode(NeutralMode mode)
void	stopRollers()

Methods inherited from class frc.team670.robot.subsystems.RotatingSubsystem

clearSetpoint, enableBrakeMode, enableCoastMode, getAngleInDegrees, getMotionMagicSetpoint, getTimeout, moveByPercentOutput, setMotionMagicSetpointAngle, stop, updateArbitraryFeedForward

Methods inherited from class java.lang.Object

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

Constructor Detail

BaseIntake

public BaseIntake(TalonSRX rotatorTalon,
                  double arbitrary_feedforward_constant,
                  int forward_soft_limit,
                  int reverse_soft_limit,
                  boolean timeout,
                  int QUAD_ENCODER_MIN,
                  int QUAD_ENCODER_MAX,
                  int CONTINUOUS_CURRENT_LIMIT,
                  int PEAK_CURRENT_LIMIT,
                  int offsetFromEncoderZero)

Method Detail

initDefaultCommand

public abstract void initDefaultCommand()

getMotionMagicDestinationCoordinates

public abstract java.awt.geom.Point2D.Double getMotionMagicDestinationCoordinates()

Should return the setpoint coordinates for the motion magic on the base motor

setRotatorNeutralMode

public abstract void setRotatorNeutralMode(NeutralMode mode)

runIntakeUsingCurrent

public void runIntakeUsingCurrent(int current)

getIntakeCoordinates

public abstract java.awt.geom.Point2D.Double getIntakeCoordinates()

Returns the x, y coordinates of the top of the intake

runIntake

public abstract void runIntake(double power,
                               boolean runningIn)

Runs the intake at a given percent power

Parameters:

percentOutput - The desired percent power for the rollers to run at [-1, 1]

isDeployed

public boolean isDeployed()

stopRollers

public void stopRollers()