Documentation Index
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The intake consists of two cooperating sub-components: IntakePivot (a single TalonFX controlling a 35:1 arm) and IntakeRollers (two TalonFXs running velocity torque-current FOC). IntakeSubsystem coordinates them and exposes the high-level commands consumed by Controls.java.
IntakeMode states
IntakeSubsystem uses an internal IntakeMode enum to select behavior each loop. Controls.java writes to the static intakeMode field in response to driver button presses.
DEPLOYED
RETRACTED
SPIN
LAUNCH
INTAKE
EXTAKE
Moves the pivot to DEPLOYED_POS (-0.43 rotations) and stops the rollers. Used when the robot is ready to pick up fuel but has not yet started intaking.
Moves the pivot to RETRACTED_POS (0.0 rotations — hard stop) and stops the rollers. Safe transport position.
Runs rollers at TARGET_RPS (68 RPS) while holding the current pivot position. Used for secondary spin-up scenarios.
Calls intakeWhileLaunch() — oscillates the pivot between LAUNCH_POS_OUT (-0.292) and LAUNCH_POS_IN (-0.13) using a cosine waveform over a 0.5-second period, while running rollers at AGITATE_RPS (34 RPS) to prevent jams during shooting.
Calls smartIntake() with the current drivebase ChassisSpeeds. Ensures the pivot is at DEPLOYED_POS before spinning rollers. Roller speed is scaled from chassis speed (see below).
Moves pivot to EXTAKE_POS (-0.3 rotations) and spins rollers in reverse at -TARGET_RPS to reject misloaded fuel.
Smart intake speed scaling
smartIntake(Supplier<ChassisSpeeds>) scales roller RPS linearly from chassis translational speed to reduce spilling at high drive speeds:
public void smartIntake(Supplier<ChassisSpeeds> speeds) {
if (!intakePivot.isAtTarget(5, IntakePivot.DEPLOYED_POS)) {
deployPivot();
}
var s = speeds.get();
runRollers(() -> Math.hypot(s.vxMetersPerSecond, s.vyMetersPerSecond) * 6 + 50);
}
Public API
| Method | Description |
|---|
smartIntake(Supplier<ChassisSpeeds>) | Deploy pivot then run rollers scaled to drive speed |
deployPivot() | Move pivot to DEPLOYED_POS, stop rollers |
retractPivot() | Move pivot to RETRACTED_POS, stop rollers |
extakeIntake() | Move pivot to EXTAKE_POS, reverse rollers |
intakeWhileLaunch() | Oscillate pivot + agitate rollers during shooting |
runRollers() | Run rollers at TARGET_RPS (68 RPS) |
runRollers(DoubleSupplier) | Run rollers at a supplied RPS |
IntakePivot
IntakePivot drives a single TalonFX (CAN ID INTAKE_PIVOT_MOTOR_ID = 15) through a 35:1 gear reduction using MotionMagic position control with arm-cosine gravity compensation.
Key positions
| Constant | Value (rotations) | Description |
|---|
RETRACTED_POS | 0.0 | Zero / home position |
DEPLOYED_POS | -0.43 | Fully lowered for intaking |
EXTAKE_POS | -0.3 | Partial deploy for ejection |
LAUNCH_POS_OUT | -0.292 | Outer oscillation point during launch |
LAUNCH_POS_IN | -0.13 | Inner oscillation point during launch |
MotionMagic tuning
| Parameter | Value |
|---|
| kP | 40 |
| kD | 1 |
| kG (arm cosine) | 0.4 |
| kS | 0.2 |
| Cruise velocity | 100 rot/s |
| Acceleration | 400 rot/s² |
Auto-zero sequence
public Command autoZeroCommand() {
return Commands.sequence(
voltageControl(() -> Volts.of(AUTO_ZERO_VOLTAGE)) // 8 V drive upward
.withDeadline(
Commands.waitSeconds(0.5)
.andThen(
Commands.run(() -> SS_intakePivotCurrent.refresh())
.until(
() -> SS_intakePivotCurrent.getValueAsDouble()
>= (STATOR_CURRENT_LIMIT - 1)))), // stall at 59 A
zeroPivot())
.withTimeout(3)
.withName("Automatic Zero Pivot");
}
The pivot zero is performed at startup by Controls.java (driver Start button while disabled). autoZeroCommand() drives the arm toward the hard stop at 8 V, waits for stator current to hit the stall limit (59 A), then calls zeroPivot() to set the encoder to 0. In simulation, autoZeroCommand() falls back to zeroPivot() immediately.
IntakeRollers
Two TalonFX motors drive the rollers via VelocityTorqueCurrentFOC:
| Constant | Value | CAN ID |
|---|
| Left roller | INTAKE_MOTOR_ONE_ID | 16 |
| Right roller | INTAKE_MOTOR_TWO_ID | 17 |
TARGET_RPS | 68 RPS | — |
AGITATE_RPS | 34 RPS (TARGET_RPS / 2) | — |
Controller bindings
| Button | Action |
|---|
| Left trigger (hold) | INTAKE mode — smart intake with chassis speed scaling |
| Left bumper (hold) | EXTAKE mode — reverse rollers, partial deploy |
| POV Up | DEPLOYED mode — deploy pivot, stop rollers |
| POV Down | RETRACTED mode — retract pivot, stop rollers |
| Right trigger (hold) | Transitions intake to LAUNCH mode via updateIntakeMode() once launcher is at target |