intake #18
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intake #18
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Incomplete; missing support in Machinery and Binder, still needs to read the angle of the motor.
truher
commented
Jan 29, 2026
| public class IntakeExtend extends SubsystemBase { | ||
| private final BareMotor m_motor; | ||
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| public Intake(LoggerFactory parent) { |
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change the constructor name to IntakeExtend here.
| final AprilTagRobotLocalizer m_localizer; | ||
| final SwerveDriveSubsystem m_drive; | ||
| final Beeper m_beeper; | ||
| final Intake m_intake; |
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add IntakeExtend declaration here
| // | ||
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| // Subsystem initializers go here. | ||
| m_intake = new Intake(driveLog); |
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add IntakeExtend initialization here
| /// SUBSYSTEMS | ||
| /// | ||
| whileTrue(driver::x, m_machinery.m_intake.intake()); | ||
| whileTrue(driver::x, m_machinery.m_intake.intake()); |
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use driver::y and bind to intake extend here
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| m_machinery.m_intake.setDefaultCommand( | ||
| m_machinery.m_intake.stop()); | ||
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add intake extend default command here
| import edu.wpi.first.wpilibj2.command.Command; | ||
| import edu.wpi.first.wpilibj2.command.SubsystemBase; | ||
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| public class IntakeExtend extends SubsystemBase { |
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take a look at team100.frc2025.Climber for an example to follow for positional control here. it's ok to just cut-and-paste some of it (look at the "default" part in the constructor) and then we can discuss in this PR.
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