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

Class CoralIntakeIntake

java.lang.Object

edu.wpi.first.wpilibj2.command.Command

frc.alotobots.reefscape.subsystems.coralIntake.commands.CoralIntakeIntake

All Implemented Interfaces:

Sendable

public class CoralIntakeIntake
extends Command

Command that runs the intake to collect game pieces by pulling them inward using positive motor output. Automatically ends when a game piece is detected by the intake sensor. The speed is clamped to the maximum allowed intake percentage.

Nested Class Summary

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

Command.InterruptionBehavior

Constructor Summary

Constructors

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

Method Summary

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

CoralIntakeIntake

public CoralIntakeIntake(CoralIntakeSubsystem coralIntakeSubsystem,
 DoubleSupplier input)

Creates a new CoralIntakeIntake command.

Parameters:

coralIntakeSubsystem - The intake subsystem to control

input - Supplier for the intake speed (0.0 to MAX_OPEN_LOOP_INTAKE_PERCENTAGE). Positive values pull inward.

Method Details

execute

public void execute()

Runs the intake motors at the supplied speed to pull inward, 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 a game piece is detected.

Overrides:

isFinished in class Command

Returns:

true if a game piece is detected in the intake