Intake Class Reference

#include <intake.h>

Inheritance diagram for Intake:

Public Member Functions
	Intake (pros::Motor intake_motor)
void	periodic () override
	Periodic runs every frame (10ms) by the command scheduler after the subsystem is registered.
void	setPct (const double pct)
	This command moves the intake at a certain voltage potential requested as a percentage [-1, 1].
RunCommand *	pctCommand (const double pct)
	Example way to create commands from class This is useful for simple commands or default commands.
	~Intake () override=default

Private Attributes
pros::Motor	intakeMotor

Detailed Description

Intake subsystem

Allows controlling the percentage power of the intake subsystem

Definition at line 11 of file intake.h.

Constructor & Destructor Documentation

Intake()

Intake::Intake ( pros::Motor intake_motor )

inlineexplicit

Construct a new Intake subsystem with pro::Motor object

Parameters

intake_motor

Definition at line 25 of file intake.h.

: intakeMotor(std::move(intake_motor)) {}

References intakeMotor.

~Intake()

Intake::~Intake ( )

overridedefault

Member Function Documentation

pctCommand()

RunCommand * Intake::pctCommand ( const double pct )

inline

Example way to create commands from class This is useful for simple commands or default commands.

Parameters

pct	Percentage Desired for this command

Returns

Command pointer to a RunCommand that moves the intake

Definition at line 56 of file intake.h.

                                             {
        // Create a new RunCommand
        // The lambda body is called at every update, in this case setting the intake percentage
        return new RunCommand(
            [this, pct]() // Capture "this" and the percentage request
            {
                this->setPct(pct); // Set the percentage of the intake to the request
            },
            {this} // Add "this", the pointer to this subsystem that is currently running.
                   // It is important to ensure that all subsystems that are being utilized in a command are properly
                   // Freed to allow that command to run.
        );
    }

References setPct().

periodic()

void Intake::periodic ( )

inlineoverride

Periodic runs every frame (10ms) by the command scheduler after the subsystem is registered.

Note

Periodic represents useful tasks such as PID that need to run every frame, but the target is only set once.

Definition at line 32 of file intake.h.

                             {
        // EX: debugging tasks
        std::cout << "Intake speed: " << intakeMotor.get_actual_velocity() << std::endl;
        // Also:
        // Updating PID for something like a flywheel or odometry for a drivetrain subsystem
    }

References intakeMotor.

setPct()

void Intake::setPct ( const double pct )

inline

This command moves the intake at a certain voltage potential requested as a percentage [-1, 1].

Parameters

pct	Percent voltage for the intake in the range [-1, 1]

Definition at line 44 of file intake.h.

                                  {
        // Scale [-1, 1] to [-12000 mV, 12000 mV]
        this->intakeMotor.move_voltage(static_cast<std::int32_t>(pct * 12000.0));
    }

Referenced by pctCommand().

Member Data Documentation

intakeMotor

pros::Motor Intake::intakeMotor

private

Store the necessary resources for this subsystem in the private section. Member methods control these resources.

Definition at line 17 of file intake.h.

Referenced by Intake(), and periodic().

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

• include/robot/intake.h