Package frc.robot.subsystems.intake

Class IntakeGrabber

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.intake.IntakeGrabber

All Implemented Interfaces:

Sendable, Subsystem

public class IntakeGrabber
extends SubsystemBase

Constructor Summary

Constructors

Constructor	Description
IntakeGrabber()	Constructor for motor for actual intaking part of intake.

Method Summary

Modifier and Type	Method	Description
Command	outtakeCommand()	Command which initiates outtake, to be triggered with held button.
Command	startIntakeCommand()	Command which toggles intake on
Command	startIntakeSlowCommand()	Command which toggles intake on at a slow speed
void	stopIntake()	Method which stops the intake with a TorqueCurrentFOC method.
Command	stopIntakeCommand()	Command which toggles intake off

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

IntakeGrabber

public IntakeGrabber()

Constructor for motor for actual intaking part of intake. Uses TorqueCurrentFOC.

Method Details

startIntakeCommand

public Command startIntakeCommand()

Command which toggles intake on

Returns:

runOnce(() -> startIntake());

startIntakeSlowCommand

public Command startIntakeSlowCommand()

Command which toggles intake on at a slow speed

Returns:

runOnce(() -> startIntakeSlow());

stopIntakeCommand

public Command stopIntakeCommand()

Command which toggles intake off

Returns:

runOnce(() -> stopIntake());

outtakeCommand

public Command outtakeCommand()

Command which initiates outtake, to be triggered with held button. Stops intake when released.

Returns:

run(() -> outtake()).finallyDo(() -> stopIntake());

stopIntake

public void stopIntake()

Method which stops the intake with a TorqueCurrentFOC method.