Package org.mort11.intake

Class IntakeRollers

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.command.Subsystem

org.mort11.intake.IntakeRollers

public final class IntakeRollers
extends edu.wpi.first.wpilibj.command.Subsystem

The subsystem representing the intake roller wheels that intake or outtake a cube.

Version:

06/12/2018

Author:

Joshua Ciffer

Field Summary

Fields

Modifier and Type	Field	Description
private HardwareStates.IntakeRollersState	rollerState	The state the intake rollers are currently in.

Constructor Summary

Constructors

Constructor	Description
IntakeRollers()	Constructs a new IntakeRollers subsystem.

Method Summary

Modifier and Type	Method	Description
HardwareStates.IntakeRollersState	getRollerState()
void	halt()	Sets the intake rollers' speed to zero.
protected void	initDefaultCommand()	Sets the default command to coast the intake.
void	setRollerSpeed(double speed)
void	setRollerState(HardwareStates.IntakeRollersState rollerState)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj.Sendable

getName, getSubsystem, setName, setName, setSubsystem

Methods inherited from class edu.wpi.first.wpilibj.SendableBase

addChild, free, getName, getSubsystem, setName, setName, setName, setSubsystem

Methods inherited from class edu.wpi.first.wpilibj.command.Subsystem

addChild, addChild, getCurrentCommand, getCurrentCommandName, getDefaultCommand, getDefaultCommandName, initSendable, periodic, setDefaultCommand, toString

Field Detail

rollerState

private HardwareStates.IntakeRollersState rollerState

The state the intake rollers are currently in.

Constructor Detail

IntakeRollers

public IntakeRollers()

Constructs a new IntakeRollers subsystem.

Method Detail

initDefaultCommand

protected void initDefaultCommand()

Sets the default command to coast the intake.

Specified by:

initDefaultCommand in class edu.wpi.first.wpilibj.command.Subsystem

setRollerSpeed

public void setRollerSpeed(double speed)

Parameters:

speed - The speed to set the intake rollers.

halt

public void halt()

Sets the intake rollers' speed to zero.

getRollerState

public HardwareStates.IntakeRollersState getRollerState()

Returns:

The state the intake rollers are currently in.

setRollerState

public void setRollerState(HardwareStates.IntakeRollersState rollerState)

Parameters:

rollerState - The state to set the intake rollers to.