Package com.stuypulse.robot.subsystems.intake

Class Intake

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.intake.Intake

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

Direct Known Subclasses:

IntakeImpl, IntakeSim

public abstract class Intake
extends edu.wpi.first.wpilibj2.command.SubsystemBase

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Intake.IntakeState

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	Intake()

Method Summary

Modifier and Type	Method	Description
boolean	atTargetAngle()
static Intake	getInstance()
abstract edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine	getIntakeSysIdRoutine()
abstract edu.wpi.first.math.geometry.Rotation2d	getRelativePosition()
abstract double	getRollerRPM()
Intake.IntakeState	getState()
boolean	isPivotAboveThreshold()
void	periodic()
abstract void	setPivotVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)
abstract void	setPivotZero()
abstract void	setPivotZeroAtBottom()
void	setState(Intake.IntakeState state)
protected abstract void	stopMotors()

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

Intake

protected Intake()

Method Details

getInstance

public static Intake getInstance()

setState

public void setState(Intake.IntakeState state)

getState

public Intake.IntakeState getState()

getRelativePosition

public abstract edu.wpi.first.math.geometry.Rotation2d getRelativePosition()

setPivotZero

public abstract void setPivotZero()

setPivotZeroAtBottom

public abstract void setPivotZeroAtBottom()

atTargetAngle

public boolean atTargetAngle()

isPivotAboveThreshold

public boolean isPivotAboveThreshold()

getRollerRPM

public abstract double getRollerRPM()

stopMotors

protected abstract void stopMotors()

getIntakeSysIdRoutine

public abstract edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine getIntakeSysIdRoutine()

setPivotVoltageOverride

public abstract void setPivotVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)

periodic

public void periodic()