Package frc.robot.subsystems.intake

Class IntakeSubsystem

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<IntakeSubsystemConfig>

frc.robot.subsystems.intake.IntakeSubsystem

All Implemented Interfaces:

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

public class IntakeSubsystem
extends AbstractVelocitySubsystem<IntakeSubsystemConfig>

Intake subsystem that spins rollers to pull Fuel from the field into the feeder.

The intake is the first mechanism a game piece touches after leaving the field. Its rollers spin forward (positive RPM) to grab Fuel off the carpet and push it into the feeder, or reverse (negative RPM) to eject unwanted pieces back onto the field.

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
IntakeSubsystem(IntakeSubsystemConfig config)	Builds the intake subsystem with a single motor-driven roller.

Method Summary

Modifier and Type	Method	Description
void	setForwardVelocity()	Convenience method that sets the rollers to the configured forward intake velocity.
void	setReverseVelocity()	Convenience method that sets the rollers to reverse at the configured eject 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

IntakeSubsystem

public IntakeSubsystem(IntakeSubsystemConfig config)

Builds the intake subsystem with a single motor-driven roller.

Parameters:

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

Method Details

setForwardVelocity

public void setForwardVelocity()

Convenience method that sets the rollers to the configured forward intake velocity.

Use this to pull Fuel from the field into the feeder.

setReverseVelocity

public void setReverseVelocity()

Convenience method that sets the rollers to reverse at the configured eject velocity.

The configured reverse RPM is stored as a positive value; this method negates it so the rollers spin backward to push Fuel out.