Package frc.alotobots.reefscape.subsystems.coralIntake.io

Interface CoralIntakeIO

All Known Implementing Classes:
CoralIntakeIOTalonFXReal, CoralIntakeIOVortexReal
public interface CoralIntakeIO
Interface defining hardware abstraction for the coral intake mechanism. Provides methods for controlling the intake motors and reading sensor data.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    CoralIntakeIO.CoralIntakeIOInputs
    Input data structure for the coral intake hardware interface.

  • Method Summary

    Modifier and Type
    Method
    Description
    default boolean
    getIntakeOccupied()
    Gets the current game piece detection status.
    default void
    setIntakeOpenLoop(double percentOutput)
    Sets the intake motor to run at a specified percentage of full power.
    default void
    setIntakeVelocity(AngularVelocity velocity, int pidSlot)
    Sets the intake motor to run at a specified velocity using closed-loop control.
    default void
    stop()
    Stops all intake motor movement.
    default void
    updateInputs(CoralIntakeIO.CoralIntakeIOInputs inputs)
    Updates the input values with the latest hardware state.

  • Method Details

    • updateInputs

      default void updateInputs(CoralIntakeIO.CoralIntakeIOInputs inputs)
      Updates the input values with the latest hardware state.
      Parameters:
      inputs - The input object to update with new values

    • setIntakeVelocity

      default void setIntakeVelocity(AngularVelocity velocity, int pidSlot)
      Sets the intake motor to run at a specified velocity using closed-loop control.
      Parameters:
      velocity - Target velocity for the intake
      pidSlot - PID slot to use for velocity control

    • setIntakeOpenLoop

      default void setIntakeOpenLoop(double percentOutput)
      Sets the intake motor to run at a specified percentage of full power.
      Parameters:
      percentOutput - Motor output percentage (-1.0 to 1.0)

    • getIntakeOccupied

      default boolean getIntakeOccupied()
      Gets the current game piece detection status.
      Returns:
      true if a game piece is detected in the intake

    • stop

      default void stop()
      Stops all intake motor movement.