frc2019.robot.subsystems.CargoManipulator

The Cargo Manipulator sucks in Cargo and deposits them. In contains one motor driving an axle containing a set of wheels that feed the Cargo (large rubber balls) in and out of a large, polycarb shovel.

Dependencies

• com.revrobotics.CANSparkMax
• com.revrobotics.CANSparkMax.IdleMode
• com.revrobotics.CANSparkMaxLowLevel.MotorType
• org.team3197.frc2019.robot.RobotMap
• org.team3197.frc2019.robot.commands.defaults.Manipulate
• Implements the org.team3197.frc2019.robot.utilities.Drivable Interface.
• Inherits properties of edu.epi.first.wpilibj.command.Subsystem

Commands

public CargoManipulator()

Constructor for the CargoManipulator class.

The motor is set to Brake mode.

The motors are brushless.

public void initDefaultCommand()

Associates the Manipulate command with the subsystem CargoManipulator.

public void drive(double speed, boolean hold)

Drives the roller motors.