Implement Transport Subsystem

[KellenWatt]

Components

• 1 Photo Sensor (Digital Input)
• 1 Color Sensor (REV Robotics Color Sensor V3)
• 2 motors (WPI_TalonSRX) These are grouped by inner and outer (A and B, according to the build team). Inner is the group closest to the shooter and uses the photo cell; Outer is the closest to the ball intake and uses the color sensor.

Constructor Requirements

• Take the current alliance, storing it for future use

Behaviours

• Outer group
  • enable/disable belt
  • reverse the belt
  • check if sensor detects a ball
  • check if ball matches current alliance color
    • Can either perform the check manually or use the REV ColorMatch class
    • Keep in mind this is not a precise operation (shadows, lights, etc.)
• Inner group
  • enable/disable belt
  • reverse the belt
  • check if sensor detects a ball

Caveats

• The Color sensor may need to change to another photo cell in the future. This will reduce functionality, and will need to be handled accordingly. Until them, write the subsystem to use the color sensor