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IntakeUsageDocs.txt
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IntakeUsageDocs.txt
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--- KRAKEN ---
import com.ctre.phoenix6.hardware.TalonFX;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Intake extends SubsystemBase{
private final int DEVICE_NUMBER = 0;
private final int ACQUIRE_SPEED = 0;
private final TalonFX motor;
private final PowerDistribution powerDistribution;
public Intake getInstance(){
return new Intake();
}
public Intake() {
motor = new TalonFX(DEVICE_NUMBER);
powerDistribution = new powerDistribution();
}
public void acquire() {
motor.set(ACQUIRE_SPEED * 1);
}
public void deacquire() {
motor.set(ACQUIRE_SPEED * -1);
}
public void stop() {
motor.stopMotor();
}
@Override
public void periodic() {
super.periodic();
SmartDashboard.putNumber("Intake/Speed", motor.get());
SmartDashboard.putNumber("Intake/Current", powerDistribution.getCurrent());
}
}
--- SPARKFLEX ---
import com.revrobotics.CANSparkFlex;
import com.revrobotics.CANSparkLowLevel.MotorType;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Intake extends SubsystemBase{
private final int MOTOR_PORT = 0;
private final int ACQUIRE_SPEED = 0;
private final CANSparkFlex motor;
public Intake getInstance(){
return new Intake();
}
public Intake() {
motor = new CANSparkFlex(MOTOR_PORT, MotorType.kBrushless);
}
public void acquire() {
motor.set(ACQUIRE_SPEED * 1);
}
public void deacquire() {
motor.set(ACQUIRE_SPEED * -1);
}
public void stop() {
motor.stopMotor();
}
@Override
public void periodic() {
super.periodic();
SmartDashboard.putNumber("Intake/Speed", motor.get());
SmartDashboard.putNumber("Intake/Current", motor.getOutputCurrent());
}
}
--- VictorSPX ---
import com.ctre.phoenix.motorcontrol.can.WPI_VictorSPX;
import edu.wpi.first.wpilibj.PowerDistribution;
import edu.wpi.first.wpilibj.smartdashboard.SmartDashboard;
import edu.wpi.first.wpilibj2.command.SubsystemBase;
public class Intake extends SubsystemBase{
private final int DEVICE_NUMBER = 0;
private final int ACQUIRE_SPEED = 0;
private final WPI_VictorSPX motor;
private final PowerDistribution powerDistribution;
public Intake getInstance(){
return new Intake();
}
public Intake() {
motor = new WPI_VictorSPX(DEVICE_NUMBER);
powerDistribution = new PowerDistribution();
}
public void acquire() {
motor.set(ACQUIRE_SPEED);
}
public void deacquire() {
motor.set(ACQUIRE_SPEED * -1);
}
public void stop() {
motor.stopMotor();
}
@Override
public void periodic() {
super.periodic();
SmartDashboard.putNumber("Intake/Speed", motor.get());
SmartDashboard.putNumber("Intake/Current", powerDistribution.getCurrent(DEVICE_NUMBER));
}
}