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

Class CoralIntakeIOTalonFXReal

java.lang.Object

frc.alotobots.reefscape.subsystems.coralIntake.io.CoralIntakeIOTalonFXReal

All Implemented Interfaces:

CoralIntakeIO

public class CoralIntakeIOTalonFXReal
extends Object
implements CoralIntakeIO

Hardware implementation of the CoralIntakeIO interface for REV Robotics SparkFlex motor controllers and CANrange sensors. This implementation provides real hardware control and sensor feedback for the coral intake mechanism.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.alotobots.reefscape.subsystems.coralIntake.io.CoralIntakeIO

CoralIntakeIO.CoralIntakeIOInputs

Constructor Summary

Constructors

Constructor	Description
CoralIntakeIOTalonFXReal()	Creates a new CoralIntakeIOVortexReal instance and configures all hardware devices.

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

CoralIntakeIOTalonFXReal

public CoralIntakeIOTalonFXReal()

Creates a new CoralIntakeIOVortexReal instance and configures all hardware devices. Sets up motor controller parameters, CANrange sensor configuration, and status signals.

Method Details

updateInputs

public void updateInputs(CoralIntakeIO.CoralIntakeIOInputs inputs)

Updates all input values with the latest hardware state.

Specified by:

updateInputs in interface CoralIntakeIO

Parameters:

inputs - The input object to update with new values

setIntakeOpenLoop

public void setIntakeOpenLoop(double percent)

Sets the intake motor to run at a specified percentage of full power.

Specified by:

setIntakeOpenLoop in interface CoralIntakeIO

Parameters:

percent - Motor output percentage (-1.0 to 1.0)

setIntakeVelocity

public void setIntakeVelocity(AngularVelocity velocity,
 int pidSlot)

Sets the intake motor to run at a specified velocity using closed-loop control. [NOT YET IMPLEMENTED]

Specified by:

setIntakeVelocity in interface CoralIntakeIO

Parameters:

velocity - Target velocity for the intake

pidSlot - PID slot to use for velocity control

Throws:

UnsupportedOperationException - This feature is not yet implemented

getIntakeOccupied

public boolean getIntakeOccupied()

Gets the current game piece detection status from the CANrange sensor.

Specified by:

getIntakeOccupied in interface CoralIntakeIO

Returns:

true if a game piece is detected in the intake

stop

public void stop()

Stops all intake motor movement.

Specified by:

stop in interface CoralIntakeIO