intake_subsystem.h

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#pragma once
#include <argos_lib/config/config_types.h>
#include <frc2/command/SubsystemBase.h>
 
#include <ctre/phoenix6/TalonFX.hpp>
 
#include "units/angular_velocity.h"
#include "units/math.h"
 
class IntakeSubsystem : public frc2::SubsystemBase {
 public:
  explicit IntakeSubsystem(argos_lib::RobotInstance RobotInstance);
 
  void Periodic() override;
  void Disable();
  units::ampere_t GetMotorCurrent();
  units::angular_velocity::turns_per_second_t GetMotorVelocity();
  void IntakeCoral(double speed = 0.8);
  void OuttakeCoral(double speed = 1.0);
  void IntakeAlgae(double speed = 1.0);
  void OuttakeAlgae(double speed = 1.0);
  bool IsCoralDetected();
  bool IsAlgaeDetected();
  bool IsAlgaeLost();
  void Stop();
 
 private:
  // Components (e.g. motor controllers and sensors) should generally be
  // declared private and exposed only through public methods.
  ctre::phoenix6::hardware::TalonFX m_intakeMotor;
  argos_lib::RobotInstance m_robotInstance;
  bool m_haveCoral;
  bool m_haveAlgae;
};