Robocubs/2024RobotCode

Default command for intake subsystem

Closed this issue · 1 comments

mpulte commented

The default command for the intake should

  • Take a BooleanSupplier canPassNote for if the note can be passed to the indexer. This should be true if elevator is down.
  • Take a BooleanSupplier canIntakeNote for if new piece can be intaked. This should be false if we have a note anywhere in the robot.
  • Stop if canIntakeNote is false and intake does not have the piece
  • Stop if canPassNote and intake has a piece
  • Otherwise, run forward. Use low speed if the intake doesn't have a piece. Use high speed if the intake has a piece.
tenumars commented

Closed with PR #39