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https://github.com/wpilibsuite/allwpilib
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33 lines
1.0 KiB
C
33 lines
1.0 KiB
C
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// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#pragma once
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#include <functional>
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#include <frc/DoubleSolenoid.h>
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#include <frc/motorcontrol/PWMSparkMax.h>
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#include <frc2/command/CommandPtr.h>
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#include <frc2/command/SubsystemBase.h>
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#include "Constants.h"
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class Intake : public frc2::SubsystemBase {
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public:
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Intake() = default;
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/** Returns a command that deploys the intake, and then runs the intake motor
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* indefinitely. */
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[[nodiscard]] frc2::CommandPtr IntakeCommand();
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/** Returns a command that turns off and retracts the intake. */
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[[nodiscard]] frc2::CommandPtr RetractCommand();
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private:
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frc::PWMSparkMax m_motor{IntakeConstants::kMotorPort};
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frc::DoubleSolenoid m_piston{frc::PneumaticsModuleType::REVPH,
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IntakeConstants::kSolenoidPorts[0],
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IntakeConstants::kSolenoidPorts[1]};
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};
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