Package org.edu_nation.easy_ftc.mechanism

Class Intake

java.lang.Object

org.edu_nation.easy_ftc.mechanism.Intake

public class Intake
extends Object

Implements an intake by extending the functionality of MotorMechanism

See Also:

• Intake.Builder
• Intake.Direction

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Intake.Builder	Construct an Intake object using the builder design pattern
static enum	Intake.Direction	Directions that can be passed to command(direction, measurement, power)

Method Summary

Modifier and Type	Method	Description
void	command(Intake.Direction direction, double measurement, double power)	Initiate an automated intake movement
void	control()	Enable teleoperated intake movement with gamepad (dpadUp, dpadDown) at a power of 0.5
void	control(double power)	Enable teleoperated intake movement with gamepad (dpadUp, dpadDown) at the specified power

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Method Details

control

public void control(double power)

Enable teleoperated intake movement with gamepad (dpadUp, dpadDown) at the specified power

Parameters:

power - fraction of total power/velocity to use for mechanism control

Throws:

IllegalArgumentException - if power is not in the interval (0, 1]

control

public void control()

Enable teleoperated intake movement with gamepad (dpadUp, dpadDown) at a power of 0.5

command

public void command(Intake.Direction direction,
 double measurement,
 double power)

Initiate an automated intake movement

Parameters:

direction - direction to move the mechanism; see Intake.Direction for accepted values

measurement - time(s) or distance to move the mechanism

power - fraction of total power/velocity to use for mechanism command

Throws:

NullPointerException - if direction is null

IllegalArgumentException - if direction is an unexpected value

IllegalArgumentException - if measurement < 0

IllegalArgumentException - if power is not in the interval (0, 1]