Package frc.robot.subsystems.intake.devices

Class IntakeMotor

java.lang.Object

frc.robot.devices.motor.AbstractMotor

frc.robot.devices.motor.AbstractVelocityMotor<MotorConfig>

frc.robot.subsystems.intake.devices.IntakeMotor

All Implemented Interfaces:

Motor, MotorIO

public class IntakeMotor
extends AbstractVelocityMotor<MotorConfig>

SparkMax-backed intake roller motor configured from the intake subsystem config.

Inherits coast-mode idle, gearing, live-tunable configuration, and telemetry from AbstractVelocityMotor. The rollers spin continuously in both directions, so soft limits are typically not used.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.devices.motor.MotorIO

MotorIO.MotorIOInputs

Field Summary

Fields inherited from class frc.robot.devices.motor.AbstractMotor

log, motor, name, NOMINAL_VOLTAGE

Method Summary

Modifier and Type	Method	Description
static IntakeMotor	create(MotorConfig config)	Creates an intake motor wrapper using values from the intake motor config.

Methods inherited from class frc.robot.devices.motor.AbstractVelocityMotor

configureMotor

Methods inherited from class frc.robot.devices.motor.AbstractMotor

computeMechanismRadiansPerMotorRotation, getPositionRadians, getVelocityRadiansPerSecond, getVoltage, init, isInitialized, setEncoderPosition, setVoltage, stop, updateInputs

Methods inherited from class java.lang.Object

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

Method Details

create

public static IntakeMotor create(MotorConfig config)

Creates an intake motor wrapper using values from the intake motor config.

Use this factory so AbstractMotor.init() is always called after config assignment.

Parameters:

config - intake motor configuration containing CAN ID, gear ratio, inversion, and current limits

Returns:

configured intake motor wrapper