Package robot.subsystems

Class IntakeSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

robot.subsystems.MotorSubsystem

robot.subsystems.IntakeSubsystem

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class IntakeSubsystem
extends MotorSubsystem

Field Summary

Fields

Modifier and Type	Field	Description
static final double	ENCODER_RATIO
static final double	EXTEND_ANGLE
static final double	HORIZONTAL
static final double	kA
static final double	kD
static final double	kG
static final double	kI
static final double	kP
static final double	kS
static final double	kV
static final double	MAX_ACCEL
static final double	MAX_VEL
static final double	RETRACT_ANGLE
static final double	WOBBLE_DISTANCE
static final double	WOBBLE_SPEED

Fields inherited from class robot.subsystems.MotorSubsystem

backwardVoltage, forwardVoltage, motors

Constructor Summary

Constructors

Constructor	Description
IntakeSubsystem(SmartMotorController angleMotor, SmartMotorController rollerMotor, CustomDutyCycleEncoder encoder)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	c_extend()
edu.wpi.first.wpilibj2.command.Command	c_gotoAngle(double angle, double wobbleDistance, double wobbleOffset)
edu.wpi.first.wpilibj2.command.Command	c_intake()
edu.wpi.first.wpilibj2.command.Command	c_retract()
edu.wpi.first.wpilibj2.command.Command	c_wobble()
double	getAngle()

Methods inherited from class robot.subsystems.MotorSubsystem

c_backward, c_controlVoltage, c_DEBUG_tunePIDkG, c_forward, c_holdVoltage, c_stop, setMotorBrake, setVoltage, stop

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

Field Details

kP

public static final double kP

See Also:

• Constant Field Values

kI

public static final double kI

See Also:

• Constant Field Values

kD

public static final double kD

See Also:

• Constant Field Values

kS

public static final double kS

See Also:

• Constant Field Values

kV

public static final double kV

See Also:

• Constant Field Values

kA

public static final double kA

See Also:

• Constant Field Values

kG

public static final double kG

See Also:

• Constant Field Values

EXTEND_ANGLE

public static final double EXTEND_ANGLE

See Also:

• Constant Field Values

RETRACT_ANGLE

public static final double RETRACT_ANGLE

See Also:

• Constant Field Values

HORIZONTAL

public static final double HORIZONTAL

See Also:

• Constant Field Values

ENCODER_RATIO

public static final double ENCODER_RATIO

See Also:

• Constant Field Values

MAX_VEL

public static final double MAX_VEL

See Also:

• Constant Field Values

MAX_ACCEL

public static final double MAX_ACCEL

See Also:

• Constant Field Values

WOBBLE_SPEED

public static final double WOBBLE_SPEED

See Also:

• Constant Field Values

WOBBLE_DISTANCE

public static final double WOBBLE_DISTANCE

Constructor Details

IntakeSubsystem

public IntakeSubsystem(SmartMotorController angleMotor,
 SmartMotorController rollerMotor,
 CustomDutyCycleEncoder encoder)

Method Details

getAngle

public double getAngle()

c_intake

public edu.wpi.first.wpilibj2.command.Command c_intake()

c_wobble

public edu.wpi.first.wpilibj2.command.Command c_wobble()

c_extend

public edu.wpi.first.wpilibj2.command.Command c_extend()

c_retract

public edu.wpi.first.wpilibj2.command.Command c_retract()

c_gotoAngle

public edu.wpi.first.wpilibj2.command.Command c_gotoAngle(double angle,
 double wobbleDistance,
 double wobbleOffset)