IntakeSubsystem Class Reference

#include <intake_subsystem.h>

Inheritance diagram for IntakeSubsystem:

Public Member Functions
	IntakeSubsystem (argos_lib::RobotInstance instance)
void	Periodic () override
void	IntakeForward ()
void	IntakeReverse ()
void	IntakeFastReverse ()
void	IntakeCone ()
void	EjectCone ()
void	EjectConeForReal ()
void	IntakeCube ()
void	EjectCube ()
void	IntakeStop ()
void	Disable ()
units::inch_t	GetIntakeDistance ()
bool	TofConeDetected ()
bool	TofCubeDetected ()
bool	IsConeDetected ()
	For intake detection.
bool	IsCubeDetected ()
	For intake detection.
bool	IsGamepieceLost ()

Private Member Functions
bool	IsGamePieceDetected ()
std::optional< units::inch_t >	ReadSensorDistance (frc::TimeOfFlight &sensor)
std::optional< units::inch_t >	GetRawConePosition ()

Private Attributes
WPI_TalonSRX	m_intakeMotor
argos_lib::RobotInstance	m_robotInstance
frc::TimeOfFlight	m_coneLeftIntakeSensor
	Time of flight distance sensor mounted on left side of intake (wheels up) to detect cone presence & location.
frc::TimeOfFlight	m_coneRightIntakeSensor
	Time of flight distance sensor mounted on right side of intake (wheels up) to detect cone presence & location.
frc::TimeOfFlight	m_cubeIntakeSensor
	Time of flight distance sensor mounted on left side of intake (wheels up) to detect cube presence & location.
bool	m_haveCone
bool	m_haveCube
frc::LinearFilter< units::inch_t >	m_coneOffsetFilter
units::inch_t	m_filteredConeOffset
	Location of cone relative to intake center filtered to reduce noise. Positive is toward left side (wheels up)

Detailed Description

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.

Constructor & Destructor Documentation

IntakeSubsystem()

IntakeSubsystem::IntakeSubsystem ( argos_lib::RobotInstance  instance )

explicit

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

(

)

EjectCone()

void IntakeSubsystem::EjectCone

(

)

EjectConeForReal()

void IntakeSubsystem::EjectConeForReal

(

)

EjectCube()

void IntakeSubsystem::EjectCube

(

)

GetIntakeDistance()

units::inch_t IntakeSubsystem::GetIntakeDistance

(

)

GetRawConePosition()

std::optional< units::inch_t > IntakeSubsystem::GetRawConePosition ( )

private

IntakeCone()

void IntakeSubsystem::IntakeCone

(

)

IntakeCube()

void IntakeSubsystem::IntakeCube

(

)

IntakeFastReverse()

void IntakeSubsystem::IntakeFastReverse

(

)

IntakeForward()

void IntakeSubsystem::IntakeForward

(

)

IntakeReverse()

void IntakeSubsystem::IntakeReverse

(

)

IntakeStop()

void IntakeSubsystem::IntakeStop

(

)

IsConeDetected()

bool IntakeSubsystem::IsConeDetected

(

)

For intake detection.

IsCubeDetected()

bool IntakeSubsystem::IsCubeDetected

(

)

For intake detection.

IsGamePieceDetected()

bool IntakeSubsystem::IsGamePieceDetected ( )

private

IsGamepieceLost()

bool IntakeSubsystem::IsGamepieceLost

(

)

Periodic()

void IntakeSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

ReadSensorDistance()

std::optional< units::inch_t > IntakeSubsystem::ReadSensorDistance ( frc::TimeOfFlight &  sensor )

private

TofConeDetected()

bool IntakeSubsystem::TofConeDetected

(

)

TofCubeDetected()

bool IntakeSubsystem::TofCubeDetected

(

)

Member Data Documentation

m_coneLeftIntakeSensor

frc::TimeOfFlight IntakeSubsystem::m_coneLeftIntakeSensor

private

Time of flight distance sensor mounted on left side of intake (wheels up) to detect cone presence & location.

m_coneOffsetFilter

frc::LinearFilter<units::inch_t> IntakeSubsystem::m_coneOffsetFilter

private

m_coneRightIntakeSensor

frc::TimeOfFlight IntakeSubsystem::m_coneRightIntakeSensor

private

Time of flight distance sensor mounted on right side of intake (wheels up) to detect cone presence & location.

m_cubeIntakeSensor

frc::TimeOfFlight IntakeSubsystem::m_cubeIntakeSensor

private

Time of flight distance sensor mounted on left side of intake (wheels up) to detect cube presence & location.

m_filteredConeOffset

units::inch_t IntakeSubsystem::m_filteredConeOffset

private

Location of cone relative to intake center filtered to reduce noise. Positive is toward left side (wheels up)

m_haveCone

bool IntakeSubsystem::m_haveCone

private

m_haveCube

bool IntakeSubsystem::m_haveCube

private

m_intakeMotor

WPI_TalonSRX IntakeSubsystem::m_intakeMotor

private

m_robotInstance

argos_lib::RobotInstance IntakeSubsystem::m_robotInstance

private

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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