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Intake functions & commands #5

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7 of 20 tasks
cyndiac opened this issue Nov 7, 2023 · 0 comments
Open
7 of 20 tasks

Intake functions & commands #5

cyndiac opened this issue Nov 7, 2023 · 0 comments
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@SadieBurris @WaterBear695264

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@cyndiac
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cyndiac commented Nov 7, 2023 •
edited by WaterBear695264
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All work is in RobotContainer.java, subsystems/Intake.java and commands/IntakeCone.java, IntakeCube.java, OuttakeGamePiece.java

Intake.java

  • motor initialization (CAN ID 6)
  • motor current limit
  • motor in brake mode
  • functions within Intake.java:
    • set____Power()
    • stopIntake()
    • setGamePieceType(int newGamePiece)

Commands

  • commands/IntakeCone.java -- init - set game piece to cone, set intake power
  • commands/IntakeCone.java -- end - set to holding power
  • commands/IntakeCube.java -- init - set game piece to cube, set power
  • commands/IntakeCube.java -- end - set to holding power
  • commands/OuttakePiece.java -- init - set power
  • commands/OuttakePiece.java -- end - set to holding power (in case of incomplete outtake)

Map commands to joystick in RobotContainer.java

  • declare all commands before RobotContainer init (~line 30)
  • configureBindings():
    • IntakeCone while A is held down
    • IntakeCube while B is held down
    • OuttakePiece while codriver X is held down
    • OuttakePiece while driver leftBumper is held down
    • StopIntake when Y is pressed (onTrue) -- should almost never be necessary, but nice to have in case
@WaterBear695264 WaterBear695264 self-assigned this Nov 8, 2023
@SadieBurris SadieBurris self-assigned this Nov 8, 2023
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@cyndiac @SadieBurris @WaterBear695264