Package org.mort11.intake

Class RollIntake

java.lang.Object

edu.wpi.first.wpilibj.SendableBase

edu.wpi.first.wpilibj.command.Command

org.mort11.intake.RollIntake

public final class RollIntake
extends edu.wpi.first.wpilibj.command.Command

The roll intake command runs the intake rollers depending on the state they are currently in.

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 operating in.

Constructor Summary

Constructors

Constructor	Description
RollIntake(HardwareStates.IntakeRollersState rollerState)	Constructs a new RollIntake command.

Method Summary

Modifier and Type	Method	Description
protected void	end()	Intake rollers are halted upon completion of this command.
protected void	execute()	When the intake rollers are intaking a cube, they are set to the intake speed.
protected boolean	isFinished()	The intake rollers will roll continuously if they are coasting, outtaking, or stopped.

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

cancel, clearRequirements, doesRequire, getGroup, initialize, initSendable, interrupted, isCanceled, isCompleted, isInterruptible, isRunning, isTimedOut, requires, setInterruptible, setRunWhenDisabled, setTimeout, start, timeSinceInitialized, toString, willRunWhenDisabled

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

Field Detail

rollerState

private HardwareStates.IntakeRollersState rollerState

The state the intake rollers are currently operating in.

Constructor Detail

RollIntake

public RollIntake(HardwareStates.IntakeRollersState rollerState)

Constructs a new RollIntake command.

Parameters:

rollerState - The state to set the intake rollers to.

Method Detail

execute

protected void execute()

When the intake rollers are intaking a cube, they are set to the intake speed. When the intake rollers are outtaking a cube, they are set to the outtake speed. When they are set to the stop state, they are halted.

Overrides:

execute in class edu.wpi.first.wpilibj.command.Command

isFinished

protected boolean isFinished()

The intake rollers will roll continuously if they are coasting, outtaking, or stopped. In any of those situations, this command is canceled by a button press or button release from the operator joystick. If intaking, the command completes if a cube hits both the intake limit switches.

Specified by:

isFinished in class edu.wpi.first.wpilibj.command.Command

Returns:

Whether or not the intake rollers are finished running.

end

protected void end()

Intake rollers are halted upon completion of this command.

Overrides:

end in class edu.wpi.first.wpilibj.command.Command