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

Class CoralIntakeEjectThrough

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.subsystems.coralIntake.commands.CoralIntakeEjectThrough

All Implemented Interfaces:

Sendable

public class CoralIntakeEjectThrough
extends Command

Command that runs the intake to eject game pieces by pulling them through in the intake direction (positive output). This runs the motors in the same direction as intake to push pieces out through the intake side of the robot. Automatically ends when the game piece is no longer detected by the intake sensor.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	end(boolean interrupted)	Called when the command ends or is interrupted.
void	execute()	Runs the motors at the supplied speed in the intake direction, 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

CoralIntakeEjectThrough

public CoralIntakeEjectThrough(CoralIntakeSubsystem coralIntakeSubsystem,
 DoubleSupplier input)

Creates a new CoralIntakeEjectThrough command.

Parameters:

coralIntakeSubsystem - The intake subsystem to control

input - Supplier for the eject speed (0.0 to MAX_OPEN_LOOP_EJECT_PERCENTAGE). Positive values pull through in the intake direction.

Method Details

execute

public void execute()

Runs the motors at the supplied speed in the intake direction, 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