Package com.stuypulse.robot.subsystems.intake

Class IntakeImpl

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.intake.Intake

com.stuypulse.robot.subsystems.intake.IntakeImpl

All Implemented Interfaces:

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

public class IntakeImpl
extends Intake

Nested Class Summary

Nested classes/interfaces inherited from class com.stuypulse.robot.subsystems.intake.Intake

Intake.IntakeState

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.controls.Follower	followerController
private final com.ctre.phoenix6.controls.VoltageOut	homingController
private final edu.wpi.first.math.filter.Debouncer	leftRollerDebouncer
private final BooleanSupplier	leftRollerStalling
private final edu.wpi.first.wpilibj.DigitalInput	pivotLimitSwitch
private final com.ctre.phoenix6.hardware.TalonFX	pivotMotor
private final LoggedSignals	pivotSignals
private final BooleanSupplier	pivotStalling
private Optional<edu.wpi.first.units.measure.Voltage>	pivotVoltageOverride
private final com.ctre.phoenix6.controls.PositionTorqueCurrentFOC	positionController
private final com.ctre.phoenix6.controls.TorqueCurrentFOC	pushdownController
private final edu.wpi.first.math.filter.Debouncer	rightRollerDebouncer
private final BooleanSupplier	rightRollerStalling
private final com.ctre.phoenix6.controls.DutyCycleOut	rollerController
private final com.ctre.phoenix6.hardware.TalonFX	rollerMotorLeft
private final com.ctre.phoenix6.hardware.TalonFX	rollerMotorRight
private final LoggedSignals	rollerSignals

Constructor Summary

Constructors

Constructor	Description
IntakeImpl()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine	getIntakeSysIdRoutine()
private boolean	getLeftRollerStalling()
private com.ctre.phoenix6.controls.ControlRequest	getPivotControl(Intake.IntakeState currentState)
edu.wpi.first.units.measure.Angle	getRelativePosition()
private boolean	getRightRollerStalling()
edu.wpi.first.units.measure.AngularVelocity	getRollerVelocity()
boolean	limitSwitchHit()
void	periodic()
private boolean	pivotStalling()
void	seedPivotAngle(edu.wpi.first.units.measure.Angle angle)
void	setPivotVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)
protected void	stopPivotMotor()
protected void	stopRollerMotors()

Methods inherited from class com.stuypulse.robot.subsystems.intake.Intake

atTargetAngle, getInstance, getState, isPivotAboveThreshold, setState, stopAllMotors

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

pivotLimitSwitch

private final edu.wpi.first.wpilibj.DigitalInput pivotLimitSwitch

pivotMotor

private final com.ctre.phoenix6.hardware.TalonFX pivotMotor

rollerMotorLeft

private final com.ctre.phoenix6.hardware.TalonFX rollerMotorLeft

rollerMotorRight

private final com.ctre.phoenix6.hardware.TalonFX rollerMotorRight

positionController

private final com.ctre.phoenix6.controls.PositionTorqueCurrentFOC positionController

homingController

private final com.ctre.phoenix6.controls.VoltageOut homingController

pushdownController

private final com.ctre.phoenix6.controls.TorqueCurrentFOC pushdownController

rollerController

private final com.ctre.phoenix6.controls.DutyCycleOut rollerController

followerController

private final com.ctre.phoenix6.controls.Follower followerController

pivotSignals

private final LoggedSignals pivotSignals

rollerSignals

private final LoggedSignals rollerSignals

pivotStalling

private final BooleanSupplier pivotStalling

leftRollerStalling

private final BooleanSupplier leftRollerStalling

rightRollerStalling

private final BooleanSupplier rightRollerStalling

pivotVoltageOverride

private Optional<edu.wpi.first.units.measure.Voltage> pivotVoltageOverride

leftRollerDebouncer

private final edu.wpi.first.math.filter.Debouncer leftRollerDebouncer

rightRollerDebouncer

private final edu.wpi.first.math.filter.Debouncer rightRollerDebouncer

Constructor Details

IntakeImpl

public IntakeImpl()

Method Details

setPivotVoltageOverride

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

Specified by:

setPivotVoltageOverride in class Intake

limitSwitchHit

public boolean limitSwitchHit()

Specified by:

limitSwitchHit in class Intake

getRelativePosition

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

Specified by:

getRelativePosition in class Intake

seedPivotAngle

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

Specified by:

seedPivotAngle in class Intake

pivotStalling

private boolean pivotStalling()

getRollerVelocity

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

Specified by:

getRollerVelocity in class Intake

getLeftRollerStalling

private boolean getLeftRollerStalling()

getRightRollerStalling

private boolean getRightRollerStalling()

stopRollerMotors

protected void stopRollerMotors()

Specified by:

stopRollerMotors in class Intake

stopPivotMotor

protected void stopPivotMotor()

Specified by:

stopPivotMotor in class Intake

getPivotControl

private com.ctre.phoenix6.controls.ControlRequest getPivotControl(Intake.IntakeState currentState)

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

periodic in class Intake

getIntakeSysIdRoutine

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

Specified by:

getIntakeSysIdRoutine in class Intake