Controls the Intake of the robot and provides internal ball position state info. More...

#include <intake_subsystem.h>

Inheritance diagram for IntakeSubsystem:

Public Types
enum class	IntakeState { Stop , Intaking , Outtaking }
	Possible intake states. More...

Public Member Functions
	IntakeSubsystem (const argos_lib::RobotInstance instance, argos_lib::SwappableControllersSubsystem *controller)

void	Disable ()
	Handle robot disabling. More...

bool	GetBallPresentIntake ()
	Determines whether ball is present at intake. More...

bool	GetBallPresentShooter ()
	Determines whether ball is present at shooter. More...

bool	GetIsBallTeamColor ()
	Determines whether ball is team color. More...

void	Periodic () override

void	Intake ()
	Deploys intake and starts rollers inwards. Handles elevator logic of cycling balls. More...

void	SlowIntake ()
	Deploys intake and starts rollers inwards at slow speed. Handles elevator logic of cycling balls. This is mostly useful for autonomous where fast intake sometimes spins ball before conveyor. More...

void	StopIntake ()
	Retracts intake. Does not run rollers. More...

void	DumpBall ()
	Reverses the intake to dump balls. More...

void	Shoot ()
	Shoots ball. More...

void	StopShoot ()
	Stop shooter. More...

void	ElevatorCycle (bool direction, bool cycleLength)
	Cycle the elevator to load or dump balls. More...

Private Attributes
const argos_lib::CANAddress	m_beltDriveAddr

const argos_lib::CANAddress	m_intakeDriveAddr

WPI_TalonSRX	m_beltDrive
	Motor that drives the belts on the elevator (Positive towards shooter, Negative away from shooter) More...

WPI_TalonSRX	m_intakeDrive
	Motor for the intake rollers (Positive is in, Negative is out) More...

frc::Solenoid	m_intakeDeploy
	Solenoid for intake actuation (True is extend, False is retract) More...

frc::TimeOfFlight	m_ballPresentIntake
	TOF sensor capable of detecting ball at intake. More...

frc::TimeOfFlight	m_ballPresentShooter
	TOF sensor capable of detecting ball at shooter. More...

IntakeState	m_intakeState
	Current intake state. More...

bool	m_intakeButtonPressed
	True if intake button is pressed. More...

bool	m_slowIntakeRequested
	True if a slow intake is needed. More...

bool	m_outtakeButtonPressed
	True if the outake button is pressed. More...

bool	m_shooterButtonPressed
	True if the shooter button is pressed. More...

bool	m_firstShotMode
	True if there was NOT a ball in the shooter. More...

argos_lib::SwappableControllersSubsystem *	m_pControllers
	The driver and operator controllers. More...

argos_lib::EdgeDetector	m_ShooterEdgeDetector
	an edge detector used for detecting a ball leaving the shooter More...

argos_lib::EdgeDetector	m_IntakeEdgeDetector
	Edge detector detecting a ball entering the intake. More...

argos_lib::HysteresisFilter< units::inch_t >	m_hysteresisIntake
	Filter for converting from ball distance to bool, True when TOF sensor reads a ball in front. More...

argos_lib::HysteresisFilter< units::inch_t >	m_hysteresisShooter
	Filter for converting from ball distance to bool, True when TOF sensor reads a ball in front. More...

argos_lib::Debouncer	m_shooterTimeDebouncer
	Simple de-bouncer for delaying shooter shots. More...

Detailed Description

Controls the Intake of the robot and provides internal ball position state info.

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Member Enumeration Documentation

◆ IntakeState

enum class IntakeSubsystem::IntakeState

strong

Possible intake states.

Enumerator
Stop
Intaking
Outtaking

Constructor & Destructor Documentation

◆ IntakeSubsystem()

IntakeSubsystem::IntakeSubsystem	(	const argos_lib::RobotInstance	instance,
		argos_lib::SwappableControllersSubsystem *	controllers
	)

Copyright: Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Member Function Documentation

◆ Disable()

void IntakeSubsystem::Disable ( )

Handle robot disabling.

◆ DumpBall()

void IntakeSubsystem::DumpBall ( )

Reverses the intake to dump balls.

◆ ElevatorCycle()

void IntakeSubsystem::ElevatorCycle	(	bool	direction,
		bool	cycleLength
	)

Cycle the elevator to load or dump balls.

Parameters

direction	which direction to run the elevator
cycleLength	the length of the cycle (short/long)

◆ GetBallPresentIntake()

bool IntakeSubsystem::GetBallPresentIntake ( )

Determines whether ball is present at intake.

Returns: true - Ball is present at checked sensor; false - Ball is not present at checked sensor

◆ GetBallPresentShooter()

bool IntakeSubsystem::GetBallPresentShooter ( )

Determines whether ball is present at shooter.

Returns: true - Ball is present at checked sensor; false - Ball is not present at checked sensor

◆ GetIsBallTeamColor()

bool IntakeSubsystem::GetIsBallTeamColor ( )

Determines whether ball is team color.

Todo:: need to make function not placeholder

Returns: true - Ball is team color; false - Ball is not team color

◆ Intake()

void IntakeSubsystem::Intake ( )

Deploys intake and starts rollers inwards. Handles elevator logic of cycling balls.

◆ Periodic()

void IntakeSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

◆ Shoot()

void IntakeSubsystem::Shoot ( )

Shoots ball.

◆ SlowIntake()

void IntakeSubsystem::SlowIntake ( )

Deploys intake and starts rollers inwards at slow speed. Handles elevator logic of cycling balls. This is mostly useful for autonomous where fast intake sometimes spins ball before conveyor.

◆ StopIntake()

void IntakeSubsystem::StopIntake ( )

Retracts intake. Does not run rollers.

◆ StopShoot()

void IntakeSubsystem::StopShoot ( )

Stop shooter.

Member Data Documentation

◆ m_ballPresentIntake

frc::TimeOfFlight IntakeSubsystem::m_ballPresentIntake

private

TOF sensor capable of detecting ball at intake.

◆ m_ballPresentShooter

frc::TimeOfFlight IntakeSubsystem::m_ballPresentShooter

private

TOF sensor capable of detecting ball at shooter.

◆ m_beltDrive

WPI_TalonSRX IntakeSubsystem::m_beltDrive

private

Motor that drives the belts on the elevator (Positive towards shooter, Negative away from shooter)

◆ m_beltDriveAddr

const argos_lib::CANAddress IntakeSubsystem::m_beltDriveAddr

private

◆ m_firstShotMode

bool IntakeSubsystem::m_firstShotMode

private

True if there was NOT a ball in the shooter.

◆ m_hysteresisIntake

argos_lib::HysteresisFilter<units::inch_t> IntakeSubsystem::m_hysteresisIntake

private

Filter for converting from ball distance to bool, True when TOF sensor reads a ball in front.

◆ m_hysteresisShooter

argos_lib::HysteresisFilter<units::inch_t> IntakeSubsystem::m_hysteresisShooter

private

Filter for converting from ball distance to bool, True when TOF sensor reads a ball in front.

◆ m_intakeButtonPressed

bool IntakeSubsystem::m_intakeButtonPressed

private

True if intake button is pressed.

◆ m_intakeDeploy

frc::Solenoid IntakeSubsystem::m_intakeDeploy

private

Solenoid for intake actuation (True is extend, False is retract)

◆ m_intakeDrive

WPI_TalonSRX IntakeSubsystem::m_intakeDrive

private

Motor for the intake rollers (Positive is in, Negative is out)

◆ m_intakeDriveAddr

const argos_lib::CANAddress IntakeSubsystem::m_intakeDriveAddr

private

◆ m_IntakeEdgeDetector

argos_lib::EdgeDetector IntakeSubsystem::m_IntakeEdgeDetector

private

Edge detector detecting a ball entering the intake.

◆ m_intakeState

IntakeState IntakeSubsystem::m_intakeState

private

Current intake state.

◆ m_outtakeButtonPressed

bool IntakeSubsystem::m_outtakeButtonPressed

private

True if the outake button is pressed.

◆ m_pControllers

argos_lib::SwappableControllersSubsystem* IntakeSubsystem::m_pControllers

private

The driver and operator controllers.

◆ m_shooterButtonPressed

bool IntakeSubsystem::m_shooterButtonPressed

private

True if the shooter button is pressed.

◆ m_ShooterEdgeDetector

argos_lib::EdgeDetector IntakeSubsystem::m_ShooterEdgeDetector

private

an edge detector used for detecting a ball leaving the shooter

◆ m_shooterTimeDebouncer

argos_lib::Debouncer IntakeSubsystem::m_shooterTimeDebouncer

private

Simple de-bouncer for delaying shooter shots.

◆ m_slowIntakeRequested

bool IntakeSubsystem::m_slowIntakeRequested

private

True if a slow intake is needed.

The documentation for this class was generated from the following files:

src/main/include/subsystems/intake_subsystem.h
src/main/cpp/subsystems/intake_subsystem.cpp

Public Types

Public Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ IntakeState

Constructor & Destructor Documentation

◆ IntakeSubsystem()

Member Function Documentation

◆ Disable()

◆ DumpBall()

◆ ElevatorCycle()

◆ GetBallPresentIntake()

◆ GetBallPresentShooter()

◆ GetIsBallTeamColor()

◆ Intake()

◆ Periodic()

◆ Shoot()

◆ SlowIntake()

◆ StopIntake()

◆ StopShoot()

Member Data Documentation

◆ m_ballPresentIntake

◆ m_ballPresentShooter

◆ m_beltDrive

◆ m_beltDriveAddr

◆ m_firstShotMode

◆ m_hysteresisIntake

◆ m_hysteresisShooter

◆ m_intakeButtonPressed

◆ m_intakeDeploy

◆ m_intakeDrive

◆ m_intakeDriveAddr

◆ m_IntakeEdgeDetector

◆ m_intakeState

◆ m_outtakeButtonPressed

◆ m_pControllers

◆ m_shooterButtonPressed

◆ m_ShooterEdgeDetector

◆ m_shooterTimeDebouncer

◆ m_slowIntakeRequested