Package frc.robot.subsystems.intake

Class IntakeShoulder

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.intake.IntakeShoulder

All Implemented Interfaces:

Sendable, Subsystem

public class IntakeShoulder
extends SubsystemBase

Constructor Summary

Constructors

Constructor	Description
IntakeShoulder()	Constructor for motor which raises and lowers intakes with associated configurations, sets up Motion Magic, and configures gear ratios.

Method Summary

Modifier and Type	Method	Description
boolean	getIsAtTarget()	Method which checks angle of motor using Phoenix and WPILib commands.
Command	lowerIntakeCommand()	Command which lowers shoulder of intake
Command	lowerToDepotCommand()	Command which calls lowerToDepot method.
Command	nudgeIntakeCommand(Supplier<Double> nudgeAmount)	Nudges the intake setpoint by a certain amount.
Command	raiseIntakeCommand()	Command which raises shoulder of intake
Command	raiseIntakeSlowCommand()	Command which raises shoulder of intake slowly
Command	stowOverBumperCommand()	Command which calls stowOverBumper method.

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

IntakeShoulder

public IntakeShoulder()

Constructor for motor which raises and lowers intakes with associated configurations, sets up Motion Magic, and configures gear ratios.

Method Details

raiseIntakeCommand

public Command raiseIntakeCommand()

Command which raises shoulder of intake

Returns:

runOnce(() -> raiseIntake());

raiseIntakeSlowCommand

public Command raiseIntakeSlowCommand()

Command which raises shoulder of intake slowly

Returns:

runOnce(() -> raiseIntakeSlow());

lowerIntakeCommand

public Command lowerIntakeCommand()

Command which lowers shoulder of intake

Returns:

runOnce(() - > lowerIntake());

lowerToDepotCommand

public Command lowerToDepotCommand()

Command which calls lowerToDepot method.

Returns:

runOnce(() -> lowerToDepot());

stowOverBumperCommand

public Command stowOverBumperCommand()

Command which calls stowOverBumper method.

Returns:

runOnce(() -> stowOverBumper());

getIsAtTarget

public boolean getIsAtTarget()

Method which checks angle of motor using Phoenix and WPILib commands.

Returns:

boolean indicating if motor position is within tolerance to angle

nudgeIntakeCommand

public Command nudgeIntakeCommand(Supplier<Double> nudgeAmount)

Nudges the intake setpoint by a certain amount.

Parameters:

nudgeAmount - The amount to nudge by.

Returns:

Command to run.