Run Ball Intake

[npmanos]

Overview

Run the ball intake forward (to intake the ball) and reverse (to reject a wrong color ball).

Tasks

• [x] Resolve CAN ID conflict for Talon SRX
• [x] Change Talon in Intake.java to WPI_TalonSRX
• [ ] Determine output required to consistently intake ball
• [ ] Test using intake to spit out ball

Suggested Implementation

• RunIntake(Direction direction, Intake intake) extends Command
  • enum Direction
  • Forward
  • Reverse
  • Stop
  • execute()
  • switch
    • Forward -> set output %
    • Backward -> set reverse output %
    • Stop -> set output to 0
  • isFinished()
  • return false

Helpful Links

• WPILib command documentation
• Java Enum Tutorial