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Coral Intake Subsystem

The Coral Intake subsystem manages the robot's game piece collection and ejection mechanism. It uses a SparkFlex motor controller and a CANrange sensor to control and monitor the intake mechanism.

Constructor and Parameters

public CoralIntakeSubsystem(CoralIntakeIO io)
  • io: Hardware interface for controlling the intake mechanism (either CoralIntakeIOVortexReal for hardware or simulation implementation)

Commands

The following commands use this subsystem: - CoralIntakeIntake - Runs intake until a game piece is detected - CoralIntakeEject - Ejects game piece forwards until no piece is detected - CoralIntakeEjectThrough - Ejects game piece backwards until no piece is detected

Configuration Requirements

  1. CAN IDs in Constants file:

    • INTAKE_MOTOR_CAN_ID
    • INTAKE_CANRANGE_ID

  2. PID Constants in CoralIntakeVortexRealConstants:

    • KP, KI, KD, KF for velocity control

  3. Motor Safety Limits:

    • STATOR_AMP_LIMIT
    • TORQUE_FORWARD_AMP_LIMIT
    • TORQUE_REVERSE_AMP_LIMIT

  4. Operation Limits in CoralIntakeConstants:

    • MAX_OPEN_LOOP_PERCENTAGE
    • MAX_OPEN_LOOP_INTAKE_PERCENTAGE
    • MAX_OPEN_LOOP_EJECT_PERCENTAGE

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