frc.team670.robot.subsystems

Class Intake

java.lang.Object

Subsystem

frc.team670.robot.subsystems.RotatingSubsystem

frc.team670.robot.subsystems.BaseIntake

frc.team670.robot.subsystems.Intake

All Implemented Interfaces:

TunableSubsystem

public class Intake
extends BaseIntake

Represents the Intake mechanism of the robot.

Field Summary

Fields

Modifier and Type	Field and Description
static double	DISTANCE_FROM_ARM_ZERO
static int	INTAKE_ANGLE_DEPLOYED
static int	INTAKE_ANGLE_IN
static double	INTAKE_FIXED_LENGTH_IN_INCHES
static double	INTAKE_ROTATING_LENGTH_IN_INCHES
static int	INTAKE_RUNNING_CURRENT
static double	PICKUP_RUNNING_POWER
static double	RUNNING_POWER

Constructor Summary

Constructors

Constructor and Description
Intake()

Method Summary

Modifier and Type	Method and Description
double	getAngleInDegrees()
double	getArbitraryFeedForwardAngleMultiplier() Gets the multiplier for updating the arbitrary feed forward based on angle and subsystem
java.awt.geom.Point2D.Double	getIntakeCoordinates() Returns the x, y coordinates of the top of the intake
java.awt.geom.Point2D.Double	getMotionMagicDestinationCoordinates() Should return the setpoint for the motion magic on the base motor
void	initDefaultCommand()
void	runIntake(double power, boolean runningIn) Runs the intake at a given percent power.
void	runIntakeUsingCurrent(int current)
void	sendDataToDashboard()
void	setMotionMagicSetpointAngle(double intakeAngle) Should set the setpoint for the Motion Magic on the intake
void	setRotatorNeutralMode(NeutralMode mode)
void	stopRollers()

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

isDeployed

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

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

Methods inherited from class java.lang.Object

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

Field Detail

DISTANCE_FROM_ARM_ZERO

public static final double DISTANCE_FROM_ARM_ZERO

See Also:

Constant Field Values

INTAKE_ANGLE_IN

public static final int INTAKE_ANGLE_IN

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Constant Field Values

INTAKE_ANGLE_DEPLOYED

public static final int INTAKE_ANGLE_DEPLOYED

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Constant Field Values

INTAKE_FIXED_LENGTH_IN_INCHES

public static final double INTAKE_FIXED_LENGTH_IN_INCHES

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Constant Field Values

INTAKE_ROTATING_LENGTH_IN_INCHES

public static final double INTAKE_ROTATING_LENGTH_IN_INCHES

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Constant Field Values

INTAKE_RUNNING_CURRENT

public static final int INTAKE_RUNNING_CURRENT

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Constant Field Values

RUNNING_POWER

public static final double RUNNING_POWER

See Also:

Constant Field Values

PICKUP_RUNNING_POWER

public static final double PICKUP_RUNNING_POWER

See Also:

Constant Field Values

Constructor Detail

Intake

public Intake()

Method Detail

setMotionMagicSetpointAngle

public void setMotionMagicSetpointAngle(double intakeAngle)

Should set the setpoint for the Motion Magic on the intake

Specified by:

setMotionMagicSetpointAngle in class RotatingSubsystem

getMotionMagicDestinationCoordinates

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

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

Specified by:

getMotionMagicDestinationCoordinates in class BaseIntake

setRotatorNeutralMode

public void setRotatorNeutralMode(NeutralMode mode)

Specified by:

setRotatorNeutralMode in class BaseIntake

getIntakeCoordinates

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

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

Specified by:

getIntakeCoordinates in class BaseIntake

runIntake

public void runIntake(double power,
                      boolean runningIn)

Runs the intake at a given percent power. Will not run if intake is flipping.

Specified by:

runIntake in class BaseIntake

Parameters:

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

stopRollers

public void stopRollers()

Overrides:

stopRollers in class BaseIntake

runIntakeUsingCurrent

public void runIntakeUsingCurrent(int current)

Overrides:

runIntakeUsingCurrent in class BaseIntake

Parameters:

current - Negative for backwards

getArbitraryFeedForwardAngleMultiplier

public double getArbitraryFeedForwardAngleMultiplier()

Description copied from class: RotatingSubsystem

Gets the multiplier for updating the arbitrary feed forward based on angle and subsystem

sendDataToDashboard

public void sendDataToDashboard()

initDefaultCommand

public void initDefaultCommand()

Specified by:

initDefaultCommand in class BaseIntake

getAngleInDegrees

public double getAngleInDegrees()

Specified by:

getAngleInDegrees in class RotatingSubsystem