Package frc.robot.subsystems.feeder

Class FeederSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.shared.subsystems.AbstractSubsystem<TConfig>

frc.robot.shared.subsystems.AbstractMotorSubsystem<TConfig>

frc.robot.shared.subsystems.AbstractVelocitySubsystem<FeederSubsystemConfig>

frc.robot.subsystems.feeder.FeederSubsystem

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class FeederSubsystem
extends AbstractVelocitySubsystem<FeederSubsystemConfig>

Feeder subsystem that drives rollers to transport Fuel from the intake toward the indexer.

The feeder sits between the intake and the indexer. Its rollers move forward (positive RPM) to carry Fuel inward toward the indexer, or reverse (negative RPM) to clear Fuel back toward the intake when jams occur or the operator requests a purge.

All RPM values in the public API represent roller (mechanism) speed after gear reduction, not motor shaft speed. The subsystem extends AbstractVelocitySubsystem which provides bidirectional velocity control with feedforward and PID.

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.subsystems.AbstractVelocitySubsystem

AbstractVelocitySubsystem.TriFunction<A,B,C,R>

Field Summary

Fields inherited from class frc.robot.shared.subsystems.AbstractVelocitySubsystem

controller

Fields inherited from class frc.robot.shared.subsystems.AbstractMotorSubsystem

feedforward, motor, motorInputs

Fields inherited from class frc.robot.shared.subsystems.AbstractSubsystem

className, config, enabled, kDt, log, verbose

Constructor Summary

Constructors

Constructor	Description
FeederSubsystem(FeederSubsystemConfig config)	Builds the feeder subsystem with a single motor-driven belt.

Method Summary

Modifier and Type	Method	Description
void	setForwardVelocity()	Convenience method that sets the belt to the configured forward transport velocity.
void	setReverseVelocity()	Convenience method that sets the belt to reverse at the configured clearing velocity.

Methods inherited from class frc.robot.shared.subsystems.AbstractVelocitySubsystem

buildVelocityMotor, getIdleVelocityRpm, getMeasuredVelocityRpm, getTargetVelocityRpm, isAtTargetVelocity, isReady, isWithinTolerance, periodic, seekVelocity, setTargetVelocityRpm, stop

Methods inherited from class frc.robot.shared.subsystems.AbstractMotorSubsystem

applyVoltage, getMeasuredPositionRadians, getMeasuredVelocityRadiansPerSecond, getSysIdRoutine, logSysIdEnd, logSysIdInterrupted, logSysIdStart, refreshFeedforward, updateAndLogMotorInputs

Methods inherited from class frc.robot.shared.subsystems.AbstractSubsystem

getConfig, isFMSAttached, isSimulation, isSubsystemDisabled, isVerbose, isVerboseLoggingEnabled, logDisabled, reportWarning

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, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

FeederSubsystem

public FeederSubsystem(FeederSubsystemConfig config)

Builds the feeder subsystem with a single motor-driven belt.

Parameters:

config - feeder configuration bundle loaded from JSON; velocities are expressed in RPM

Method Details

setForwardVelocity

public void setForwardVelocity()

Convenience method that sets the belt to the configured forward transport velocity.

Use this to move Fuel from the intake side toward the indexer.

setReverseVelocity

public void setReverseVelocity()

Convenience method that sets the belt to reverse at the configured clearing velocity.

The configured reverse RPM is stored as a positive value; this method negates it so the belt spins backward toward the intake.