Package frc.robot.subsystems.intake.commands

Class IntakeSubsystemCommandFactory

java.lang.Object

frc.robot.shared.commands.AbstractSubsystemCommandFactory<TSubsystem>

frc.robot.shared.commands.AbstractVelocityCommandFactory<IntakeSubsystem>

frc.robot.subsystems.intake.commands.IntakeSubsystemCommandFactory

public class IntakeSubsystemCommandFactory
extends AbstractVelocityCommandFactory<IntakeSubsystem>

Factory that creates intake commands and wires default behaviors.

Field Summary

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

subsystem

Constructor Summary

Constructors

Constructor	Description
IntakeSubsystemCommandFactory(IntakeSubsystem subsystem)	Creates a factory for commands that share the given intake subsystem instance.

Method Summary

Modifier and Type	Method	Description
EjectIntakeCommand	createEjectCommand()	Builds an eject command using the configured default reverse velocity.
EjectIntakeCommand	createEjectCommand(Supplier<Double> targetRpmSupplier)	Builds an eject command that reads its target RPM from a supplier.
IdleIntakeCommand	createIdleCommand()	Builds an idle command that holds the rollers at the configured idle RPM (typically zero).
edu.wpi.first.wpilibj2.command.Command	createIntakeAndHoldCommand()	Builds a command that spins the rollers forward at the configured intake velocity and holds that speed indefinitely.

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

createContinuousVelocityCommand, createStopCommand, createSysIdDynamicCommand, createSysIdDynamicCommand, createSysIdDynamicCommandWithDefaultTimeout, createSysIdFullSweepCommand, createSysIdFullSweepCommand, createSysIdQuasistaticCommand, createSysIdQuasistaticCommand, createSysIdQuasistaticCommandWithDefaultTimeout, setDefaultIdleCommand

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

getSubsystem

Methods inherited from class java.lang.Object

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

Constructor Details

IntakeSubsystemCommandFactory

public IntakeSubsystemCommandFactory(IntakeSubsystem subsystem)

Creates a factory for commands that share the given intake subsystem instance.

Parameters:

subsystem - intake subsystem instance that commands created by this factory will control

Method Details

createIdleCommand

public IdleIntakeCommand createIdleCommand()

Builds an idle command that holds the rollers at the configured idle RPM (typically zero).

Specified by:

createIdleCommand in class AbstractVelocityCommandFactory<IntakeSubsystem>

Returns:

command that idles the intake rollers

createEjectCommand

public EjectIntakeCommand createEjectCommand(Supplier<Double> targetRpmSupplier)

Builds an eject command that reads its target RPM from a supplier.

The supplier should return a negative RPM so the rollers spin backward to push Fuel out.

Parameters:

targetRpmSupplier - provider for the target reverse RPM (negative value); evaluated on initialize

Returns:

command that spins the rollers in reverse at the supplied RPM

createEjectCommand

public EjectIntakeCommand createEjectCommand()

Builds an eject command using the configured default reverse velocity.

The configured reverse RPM is negated so the rollers spin backward to push Fuel out.

Returns:

command that spins the rollers in reverse at the default eject RPM

createIntakeAndHoldCommand

public edu.wpi.first.wpilibj2.command.Command createIntakeAndHoldCommand()

Builds a command that spins the rollers forward at the configured intake velocity and holds that speed indefinitely.

Use this with whileTrue so the rollers pull Fuel while a button is held and return to idle when released.

Returns:

command that intakes Fuel and holds velocity until interrupted