Package com.team2813.lib2813.subsystems

Class ParameterizedIntakeSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.team2813.lib2813.subsystems.ParameterizedIntakeSubsystem

All Implemented Interfaces:

Sendable, Subsystem, AutoCloseable

public abstract class ParameterizedIntakeSubsystem
extends SubsystemBase
implements AutoCloseable

A subsystem for an intake.

Since:

2.0.0

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static final record	ParameterizedIntakeSubsystem.Params

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	ParameterizedIntakeSubsystem(Motor intakeMotor, ParameterizedIntakeSubsystem.Params params)

Method Summary

Modifier and Type	Method	Description
void	close()
protected final void	intakeGamePiece()	Makes intake wheels spin in the intake direction.
final Command	intakeItemCommand()
protected final void	outtakeGamePiece()	Makes intake wheels spin in the outtake direction.
final Command	outtakeItemCommand()
protected final void	setMotorDemand(double demand)	Runs the motor with the provided demand value.
protected final Command	setMotorDemandCommand(double demand)	Returns a command that runs the motor with the provided demand value.
final void	stopMotor()	Stops the motor.
final Command	stopMotorCommand()

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, periodic, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

ParameterizedIntakeSubsystem

protected ParameterizedIntakeSubsystem(Motor intakeMotor,
 ParameterizedIntakeSubsystem.Params params)

Method Details

intakeItemCommand

public final Command intakeItemCommand()

outtakeItemCommand

public final Command outtakeItemCommand()

stopMotorCommand

public final Command stopMotorCommand()

intakeGamePiece

protected final void intakeGamePiece()

Makes intake wheels spin in the intake direction.

outtakeGamePiece

protected final void outtakeGamePiece()

Makes intake wheels spin in the outtake direction.

setMotorDemand

protected final void setMotorDemand(double demand)

Runs the motor with the provided demand value.

Parameters:

demand - Demand of the motor. Meaning depends on the ControlMode.

setMotorDemandCommand

protected final Command setMotorDemandCommand(double demand)

Returns a command that runs the motor with the provided demand value.

Parameters:

demand - Demand of the motor. Meaning depends on the ControlMode.

stopMotor

public final void stopMotor()

Stops the motor.

close

public void close()

Specified by:

close in interface AutoCloseable