The Intake class represents a robot intake system. More...

#include <intake.h>

Public Member Functions
void	run ()
	Runs the main function of the intake system.

	Intake ()

Private Attributes
bool	elevated

bool	alliance_color
	blue is false, red is true.

Detailed Description

The Intake class represents a robot intake system.

Definition at line 8 of file intake.h.

Constructor & Destructor Documentation

◆ Intake()

Intake::Intake ( )

Definition at line 15 of file intake.cpp.

15{ alliance_color = false; }

Robot::Intake::alliance_color

bool alliance_color

blue is false, red is true.

Definition intake.h:26

References alliance_color.

Member Function Documentation

◆ run()

void Intake::run ( )

Runs the main function of the intake system.

Takes optional user input to control the direction of the intake system in autonomous.

Definition at line 23 of file intake.cpp.

                 {
 
   if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_R1)) {
      IntakeMotor.move_velocity(-FASTER_VELOCITY);
      HookMotor.move_velocity(-SLOWER_VELOCITY);
   } else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_L1)) {
      IntakeMotor.move_velocity(FASTER_VELOCITY);
      HookMotor.move_velocity(SLOWER_VELOCITY);
 
      // if (HookSwitch.get_value() == 1) {
      //    int target = HookRotation.get_position();
      //    while (HookSwitch.get_value() == 1) {
      //       HookMotor.move_velocity(75);
      //       target = HookRotation.get_position() + 16500;
      //       pros::delay(5);
      //    }
         
      //    while (HookRotation.get_position() % 83400 > 41700) {
      //       pros::delay(5);
      //    }
      //    pros::Task move([&]() { ladybrown.MoveToPoint(LadyBrown::ATTACK_STATE); }, "LadyBrownMove");
         
         
      //    HookMotor.move_velocity(-200);
      //    IntakeMotor.move_velocity(0);
 
      // }
      
   } else {
      IntakeMotor.brake();
      HookMotor.brake();
   }
   
   
   if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_RIGHT)) {
      IntakeMotor.move_velocity(FASTER_VELOCITY);
   } else if (controller.get_digital(pros::E_CONTROLLER_DIGITAL_DOWN)) {
      IntakeMotor.move_velocity(-FASTER_VELOCITY);
   }
 
   if (controller.get_digital_new_press(pros::E_CONTROLLER_DIGITAL_A)) {
      IntakeLift.toggle();
   }
}

References Robot::Globals::controller(), FASTER_VELOCITY, Robot::Globals::HookMotor(), Robot::Globals::IntakeLift(), Robot::Globals::IntakeMotor(), and SLOWER_VELOCITY.

Member Data Documentation

◆ alliance_color

bool Robot::Intake::alliance_color

private

blue is false, red is true.

Definition at line 26 of file intake.h.

Referenced by Intake().

◆ elevated

bool Robot::Intake::elevated

private

Definition at line 21 of file intake.h.

The documentation for this class was generated from the following files:

include/robot/intake.h
src/subsystems/intake.cpp

Public Member Functions

Private Attributes