Package frc.alotobots.reefscape.subsystems.coralIntake

Class CoralIntakeSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.alotobots.reefscape.subsystems.coralIntake.CoralIntakeSubsystem

All Implemented Interfaces:

Sendable, Subsystem

public class CoralIntakeSubsystem
extends SubsystemBase

The CoralIntake subsystem controls the robot's intake mechanism for game pieces. This subsystem manages both closed-loop velocity control and open loop control modes. Positive motor output pulls inward (intake direction), negative output pushes outward.

Constructor Summary

Constructors

Constructor	Description
CoralIntakeSubsystem(CoralIntakeIO io)	Constructs a new CoralIntakeSubsystem with the specified hardware interface.

Method Summary

Modifier and Type	Method	Description
AngularVelocity	getCurrentVelocity()	Gets the current velocity of the intake.
boolean	isIntakeOccupied()	Checks if the intake currently has a game piece.
void	periodic()	Updates and logs intake sensor inputs.
void	runAtPercentOutput(double percentOutput)	Controls the intake using direct percent output (open-loop control).
void	runToTargetVelocity(AngularVelocity velocity)	Controls the intake to move at a specified velocity using closed-loop velocity control.
void	stop()	Stops intake movement.

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

Constructor Details

CoralIntakeSubsystem

public CoralIntakeSubsystem(CoralIntakeIO io)

Constructs a new CoralIntakeSubsystem with the specified hardware interface.

Parameters:

io - The hardware interface for controlling the intake mechanism

Method Details

periodic

public void periodic()

Updates and logs intake sensor inputs. Called periodically by the command scheduler. This method ensures that the latest sensor data is available for control decisions.

runToTargetVelocity

public void runToTargetVelocity(AngularVelocity velocity)

Controls the intake to move at a specified velocity using closed-loop velocity control. [NOT YET IMPLEMENTED]

Parameters:

velocity - Target velocity in radians per second. Positive values indicate intake direction.

runAtPercentOutput

public void runAtPercentOutput(double percentOutput)

Controls the intake using direct percent output (open-loop control). Positive values pull inward (intake), negative values push outward.

Parameters:

percentOutput - Motor output percentage (-1.0 to 1.0)

stop

public void stop()

Stops intake movement. This method should be called when active control of the intake is no longer needed.

isIntakeOccupied

public boolean isIntakeOccupied()

Checks if the intake currently has a game piece.

Returns:

true if a game piece is detected in the intake

getCurrentVelocity

public AngularVelocity getCurrentVelocity()

Gets the current velocity of the intake. Positive values indicate intake direction.

Returns:

The current angular velocity