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	Enum representing the different possible states of the intake.

Field Summary

Fields

Modifier and Type	Field	Description
private static final Intake	instance
private Intake.IntakeState	state

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.units.measure.Angle	getRelativePosition()
abstract edu.wpi.first.units.measure.AngularVelocity	getRollerVelocity()
Intake.IntakeState	getState()
boolean	isPivotAboveThreshold()
abstract boolean	limitSwitchHit()
void	periodic()
abstract void	seedPivotAngle(edu.wpi.first.units.measure.Angle angle)
abstract void	setPivotVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)
void	setState(Intake.IntakeState state)
protected void	stopAllMotors()
protected abstract void	stopPivotMotor()
protected abstract void	stopRollerMotors()

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

Field Details

instance

private static final Intake instance

state

private Intake.IntakeState state

Constructor Details

Intake

protected Intake()

Method Details

getInstance

public static Intake getInstance()

limitSwitchHit

public abstract boolean limitSwitchHit()

setState

public void setState(Intake.IntakeState state)

getState

public Intake.IntakeState getState()

getRelativePosition

public abstract edu.wpi.first.units.measure.Angle getRelativePosition()

seedPivotAngle

public abstract void seedPivotAngle(edu.wpi.first.units.measure.Angle angle)

atTargetAngle

public boolean atTargetAngle()

isPivotAboveThreshold

public boolean isPivotAboveThreshold()

getRollerVelocity

public abstract edu.wpi.first.units.measure.AngularVelocity getRollerVelocity()

stopRollerMotors

protected abstract void stopRollerMotors()

stopPivotMotor

protected abstract void stopPivotMotor()

stopAllMotors

protected void stopAllMotors()

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()