Intake functions & commands

[cyndiac]

All work is in RobotContainer.java, subsystems/Intake.java and commands/IntakeCone.java, IntakeCube.java, OuttakeGamePiece.java

Intake.java

• motor initialization (CAN ID 6)
• motor current limit
• motor in brake mode
• functions within Intake.java:
  • set____Power()
  • stopIntake()
  • setGamePieceType(int newGamePiece)

Commands

• commands/IntakeCone.java -- init - set game piece to cone, set intake power
• commands/IntakeCone.java -- end - set to holding power
• commands/IntakeCube.java -- init - set game piece to cube, set power
• commands/IntakeCube.java -- end - set to holding power
• commands/OuttakePiece.java -- init - set power
• commands/OuttakePiece.java -- end - set to holding power (in case of incomplete outtake)

Map commands to joystick in RobotContainer.java

• declare all commands before RobotContainer init (~line 30)
• configureBindings():
  • IntakeCone while A is held down
  • IntakeCube while B is held down
  • OuttakePiece while codriver X is held down
  • OuttakePiece while driver leftBumper is held down
  • StopIntake when Y is pressed (onTrue) -- should almost never be necessary, but nice to have in case