class ElevatorIntake : LinearMotion, Intake
Intake comprised of an elevator that extends and retracts a rotatable bin and roller.
companion object Companion : Factory<ElevatorIntake> |
ElevatorIntake(extenderMotor: DcMotor, extenderRange: IntRange? = null, extenderPowerMultiplier: Double = 1.0, binMotor: DcMotor, rollerMotor: DcMotor)
Intake comprised of an elevator that extends and retracts a rotatable bin and roller. |
val binMotor: DcMotor
The bin motor, used for tilting the bin. |
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val rollerMotor: DcMotor
The roller motor. |
val currentPosition: Int
The current position of the linear motion system. |
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val motor: DcMotor
The motor controlled by the linear motion system. |
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val powerMultiplier: Double
Constant to multiply powers by. |
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val range: IntRange?
The range of movement that this system supports. |
fun moveBin(power: Double): Unit
Moves the bin motor at a given power. |
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fun moveRoller(power: Double): Unit
Moves the roller motor at a given power. |
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fun stopAll(): Unit
Stops all moving parts. |
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fun stopBin(): Unit
Stops the bin motor. |
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fun stopRoller(): Unit
Stops the roller motor. |
fun canMove(power: Double? = null, at: Int? = null): Boolean
Checks whether the linear motion system is allowed to move at a given power. |
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fun move(power: Double): Unit
Moves the linear motion system at a given power. |
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fun moveIfAble(power: Double): Boolean
Moves the linear motion system at a given power if it is allowed to; stops it if it is not. |
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fun moveRaw(power: Double): Unit
Move the linear motion system at a power, bypassing powerMultiplier. |
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fun stop(): Unit
Stops the linear motion system. |
fun standard(hardwareMap: HardwareMap): ElevatorIntake |