Package frc.robot.subsystems.intake.commands

Class EjectIntakeCommand

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
frc.robot.shared.commands.AbstractSubsystemCommand<TSubsystem>
frc.robot.shared.commands.AbstractVelocityCommand<IntakeSubsystem>
frc.robot.subsystems.intake.commands.EjectIntakeCommand
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class EjectIntakeCommand extends AbstractVelocityCommand<IntakeSubsystem>
Command that spins the intake rollers in reverse to eject Fuel back onto the field.

The target RPM supplier is evaluated once on initialize. Pass a negative RPM to reverse the roller direction. The command finishes when the rollers reach the target velocity and have been stable for the configured settle time. Bind this with whileTrue so the rollers return to their default idle when the operator releases the button.

  • Nested Class Summary

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

    edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior

  • Field Summary

    Fields inherited from class frc.robot.shared.commands.AbstractSubsystemCommand

    log, subsystem

  • Constructor Summary

    Constructors
    Constructor
    Description
    EjectIntakeCommand(IntakeSubsystem subsystem, double targetRpm)
    Creates an eject command that drives the rollers at a fixed negative RPM.
    EjectIntakeCommand(IntakeSubsystem subsystem, Supplier<Double> targetRpmSupplier)
    Creates an eject command that reads its target RPM from a supplier.

  • Method Summary

    Methods inherited from class frc.robot.shared.commands.AbstractVelocityCommand

    end, execute, isFinished, onInitialize

    Methods inherited from class frc.robot.shared.commands.AbstractSubsystemCommand

    initialize

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getInterruptionBehavior, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, initSendable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, runsWhenDisabled, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • EjectIntakeCommand

      public EjectIntakeCommand(IntakeSubsystem subsystem, Supplier<Double> targetRpmSupplier)
      Creates an eject command that reads its target RPM from a supplier.
      Parameters:
      subsystem - intake subsystem to control
      targetRpmSupplier - provider for the target reverse RPM (negative value); evaluated on initialize

    • EjectIntakeCommand

      public EjectIntakeCommand(IntakeSubsystem subsystem, double targetRpm)
      Creates an eject command that drives the rollers at a fixed negative RPM.
      Parameters:
      subsystem - intake subsystem to control
      targetRpm - fixed target reverse RPM (negative value for backward rotation)