intake_subsystem.h

Go to the documentation of this file.

 
 
#pragma once
 
#include <frc2/command/SubsystemBase.h>
 
#include <TMD37003.h>
#include <TimeOfFlight.h>
 
#include "argos_lib/config/config_types.h"
#include "argos_lib/general/debouncer.h"
#include "argos_lib/general/edge_detector.h"
#include "argos_lib/general/hysteresis_filter.h"
#include "argos_lib/subsystems/swappable_controllers_subsystem.h"
#include "ctre/Phoenix.h"
#include "frc/Solenoid.h"
 
class IntakeSubsystem : public frc2::SubsystemBase {
 public:
  IntakeSubsystem(const argos_lib::RobotInstance instance, argos_lib::SwappableControllersSubsystem* controller);
 
  enum class IntakeState { Stop, Intaking, Outtaking };
 
  void Disable();
 
  bool GetBallPresentIntake();
 
  bool GetBallPresentShooter();
 
  bool GetIsBallTeamColor();
 
  void Periodic() override;
 
  void Intake();
 
  void SlowIntake();
 
  void StopIntake();
 
  void DumpBall();
 
  void Shoot();
 
  void StopShoot();
 
  void ElevatorCycle(bool direction, bool cycleLength);
 
 private:
  const argos_lib::CANAddress m_beltDriveAddr;
  const argos_lib::CANAddress m_intakeDriveAddr;
 
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  // MOTORS
  WPI_TalonSRX
      m_beltDrive;  
  WPI_TalonSRX m_intakeDrive;  
 
  // SOLENOIDS
  frc::Solenoid m_intakeDeploy;  
 
  // SENSORS
  frc::TimeOfFlight m_ballPresentIntake;   
  frc::TimeOfFlight m_ballPresentShooter;  
  // frc::TMD37003 m_ballColor;  ///< at intake
 
  // CARGO MANAGEMENT
 
  IntakeState m_intakeState;  
 
  bool m_intakeButtonPressed;                                
  bool m_slowIntakeRequested;                                
  bool m_outtakeButtonPressed;                               
  bool m_shooterButtonPressed;                               
  bool m_firstShotMode;                                      
  argos_lib::SwappableControllersSubsystem* m_pControllers;  
 
  argos_lib::EdgeDetector m_ShooterEdgeDetector;  
  argos_lib::EdgeDetector m_IntakeEdgeDetector;   
 
  argos_lib::HysteresisFilter<units::inch_t>
      m_hysteresisIntake;  
  argos_lib::HysteresisFilter<units::inch_t>
      m_hysteresisShooter;  
 
  argos_lib::Debouncer m_shooterTimeDebouncer;  
};