Package frc.robot.subsystems.intake.config

Class IntakeSubsystemConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.AbstractSubsystemConfig

frc.robot.shared.config.AbstractMotorSubsystemConfig

frc.robot.shared.config.AbstractVelocitySubsystemConfig

frc.robot.subsystems.intake.config.IntakeSubsystemConfig

public class IntakeSubsystemConfig
extends AbstractVelocitySubsystemConfig

Configuration bundle for the intake subsystem. All RPM values represent roller (mechanism) speed after gear reduction, not motor shaft speed.

Velocity limits, PID gains, feedforward gains, and settle time are inherited from AbstractVelocitySubsystemConfig. Intake-specific fields cover the default forward intake speed and the reverse speed used for ejecting Fuel back onto the field.

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.config.AbstractConfig

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
double	forwardVelocityRpm	Default forward velocity used for pulling Fuel from the field into the feeder, in RPM.
double	reverseVelocityRpm	Reverse velocity used for ejecting Fuel back onto the field, in RPM.

Fields inherited from class frc.robot.shared.config.AbstractVelocitySubsystemConfig

motionProfile

Fields inherited from class frc.robot.shared.config.AbstractMotorSubsystemConfig

feedforward, motorConfig, pid, sysId

Fields inherited from class frc.robot.shared.config.AbstractSubsystemConfig

enabled, verbose

Constructor Summary

Constructors

Constructor	Description
IntakeSubsystemConfig()

Method Summary

Modifier and Type	Method	Description
double	getForwardVelocityRpm()	Returns the default forward intake velocity, tuned via SmartDashboard.
double	getReverseVelocityRpm()	Returns the reverse velocity for ejecting Fuel, tuned via SmartDashboard.

Methods inherited from class frc.robot.shared.config.AbstractSubsystemConfig

getVerbose

Methods inherited from class frc.robot.shared.config.AbstractConfig

getDashboardPrefix, initializeNestedDashboardPrefixes, readTunableBoolean, readTunableDegrees, readTunableDegreesAsRadians, readTunableNumber, readTunableString, setDashboardPrefix

Methods inherited from class java.lang.Object

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

Field Details

forwardVelocityRpm

public double forwardVelocityRpm

Default forward velocity used for pulling Fuel from the field into the feeder, in RPM.

reverseVelocityRpm

public double reverseVelocityRpm

Reverse velocity used for ejecting Fuel back onto the field, in RPM. Stored as a positive value; the subsystem negates it.

Constructor Details

IntakeSubsystemConfig

public IntakeSubsystemConfig()

Method Details

getForwardVelocityRpm

public double getForwardVelocityRpm()

Returns the default forward intake velocity, tuned via SmartDashboard.

Returns:

forward velocity in RPM (positive value; rollers pull Fuel inward)

getReverseVelocityRpm

public double getReverseVelocityRpm()

Returns the reverse velocity for ejecting Fuel, tuned via SmartDashboard.

Returns:

reverse velocity in RPM (positive value; the subsystem applies the sign)