Run Ball Intake

[npmanos]

Overview

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

Tasks

• Resolve CAN ID conflict for Talon SRX
• 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