Package frc.alotobots.reefscape.subsystems.coralIntake.commands

Class CoralIntakeEject

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.subsystems.coralIntake.commands.CoralIntakeEject

All Implemented Interfaces:

Sendable

public class CoralIntakeEject
extends Command

Command that runs the intake in reverse (negative output) to eject game pieces out the front. Automatically ends when the game piece is no longer detected by the intake sensor. The speed is clamped to the maximum allowed eject percentage.

Nested Class Summary

Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

Command.InterruptionBehavior

Constructor Summary

Constructors

Constructor	Description
CoralIntakeEject(CoralIntakeSubsystem coralIntakeSubsystem, DoubleSupplier input)	Creates a new CoralIntakeEject command.

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	Called when the command ends or is interrupted.
void	execute()	Runs the eject motors at the supplied speed in reverse, clamped to safe limits.
boolean	isFinished()	Determines if the command has finished.

Methods inherited from class edu.wpi.first.wpilibj2.command.Command

addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initialize, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

Methods inherited from class java.lang.Object

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

Constructor Details

CoralIntakeEject

public CoralIntakeEject(CoralIntakeSubsystem coralIntakeSubsystem,
 DoubleSupplier input)

Creates a new CoralIntakeEject command.

Parameters:

coralIntakeSubsystem - The intake subsystem to control

input - Supplier for the eject speed (-MAX_OPEN_LOOP_EJECT_PERCENTAGE to 0.0). Input is made negative to push outward through the front of the intake.

Method Details

execute

public void execute()

Runs the eject motors at the supplied speed in reverse, clamped to safe limits. Called repeatedly while the command is scheduled.

Overrides:

execute in class Command

end

public void end(boolean interrupted)

Called when the command ends or is interrupted. Stops the intake motors.

Overrides:

end in class Command

Parameters:

interrupted - true if the command was interrupted, false if it completed normally

isFinished

public boolean isFinished()

Determines if the command has finished. Returns true once the game piece is no longer detected.

Overrides:

isFinished in class Command

Returns:

true if no game piece is detected in the intake