Package ftclib.subsystem

Class FtcIntake

java.lang.Object

ftclib.subsystem.FtcIntake

public class FtcIntake
extends Object

This class implements a platform dependent Intake Subsystem. An Intake consists of a DC motor or a continuous rotation servo. Optionally, it may have entry and exit sensors to detect the game element entering or exiting the Intake and allows callback actions such as stopping the Intake motor.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	FtcIntake.Params	This class contains all the parameters of the Intake.

Field Summary

Fields

Modifier and Type	Field	Description
private final TrcIntake	intake

Constructor Summary

Constructors

Constructor	Description
FtcIntake(String instanceName, FtcIntake.Params params)	Constructor: Create an instance of the object.

Method Summary

Modifier and Type	Method	Description
private TrcIntake.TriggerParams	createTriggerParams(String name, FtcSensorTrigger.SensorType sensorType, TrcAnalogSensor.AnalogDataSource analogSensorData, boolean sensorInverted, double sensorThreshold, TrcEvent.Callback triggerCallback)	This method creates the trigger parameters for the Intake sensor.
TrcIntake	getIntake()	This method returns the intake object.

Methods inherited from class java.lang.Object

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

Field Details

intake

private final TrcIntake intake

Constructor Details

FtcIntake

public FtcIntake(String instanceName,
 FtcIntake.Params params)

Constructor: Create an instance of the object.

Parameters:

instanceName - specifies the instance name.

params - specifies the parameters to set up the actuator.

Method Details

getIntake

public TrcIntake getIntake()

This method returns the intake object.

Returns:

intake object.

createTriggerParams

private TrcIntake.TriggerParams createTriggerParams(String name,
 FtcSensorTrigger.SensorType sensorType,
 TrcAnalogSensor.AnalogDataSource analogSensorData,
 boolean sensorInverted,
 double sensorThreshold,
 TrcEvent.Callback triggerCallback)

This method creates the trigger parameters for the Intake sensor.

Parameters:

name - specifies name of the sensor.

sensorType - specifies the sensor type.

analogSensorData - specifies the method to call to get analog sensor data (only for SensorType AnalogSensor).

sensorInverted - specifies true if the sensor polarity is inverted, false otherwise.

sensorThreshold - specifies the sensor threshold value if it is an analog sensor, ignored if sensor is digital.

triggerCallback - specifies the callback when trigger event occurred, null if not provided.

Returns:

created trigger parameters, null if there is no sensor.