Feat/intake #16
Feat/intake #16
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Initialize intake subsystem file.
subsystem/intake.py
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| def get_no_grab_cube_detected(self): | ||
| avg_voltage = self.lower_back_dist_sensor.getVoltage() | ||
| return 0.3 < avg_voltage |
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Probably dont need this
subsystem/intake.py
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| def eject_piece(self): | ||
| self.set_lower_output(-self.intake_speed) | ||
| self.set_upper_output(-self.intake_speed) | ||
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need both
eject_cone(self):...
and
eject_cube(self):...
due to them requiring different methods of ejection.
subsystem/intake.py
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| self.lower_intake_motor.set_raw_output(speed) | ||
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| def grab_cube(self): | ||
| self.set_lower_output(self.intake_speed) |
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this is fine for now, but just know you might need to include that upper motor to control. I would refer to the videos i sent you.
subsystem/intake.py
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| def get_cube_detected(self): | ||
| avg_voltage = self.lower_back_dist_sensor.getVoltage() | ||
| return 0.7 < avg_voltage |
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make sure to take the distance sensor values and put them into the config file
command/intake.py
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| class SetIntake(SubsystemCommand[Intake]): | ||
| def __init__(self, subsystem: Intake, intake_active: bool, go_cube: bool, go_cone: bool): |
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Instead of go_cube and go_cone, use a dictionary like
game_piece
and in constants:
game_piece = { 'cone':0 'cube':1 }
then use this inside the command
command/intake.py
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| class SetIntake(SubsystemCommand[Intake]): | ||
| def __init__(self, subsystem: Intake, intake_active: bool, go_cube: bool, go_cone: bool): |
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also when you implement the wrist functionality, make sure to add it to this command and not create a new one, since we can only run one command per subsystem at a time
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