Intake Initial Code

[bjmcternan]

We will need an intake module. This module will be responsible for controlling the robot intake. The intake will move balls from the field into the robot. The intake speed will need to increase when the robot velocity increases, and decrease when the robot velocity decreases.

The intake will need to be deployed and undeployed.

It will have the following components:
2 Talon FX motors

The controller will need to be connected to this module.
Interface:
On
Off
Deploy
Retract

[afranchuk]

Is there a disadvantage to always having the intake run at a fixed, high speed (as opposed to slowing down when the velocity decreases)? Are we just trying to save power?

[bjmcternan]

A high speed isn't always the best to use. When the robot is moving at a slower velocity a high speed intake may knock the balls away instead of ingesting them.

[afranchuk]

Ah, I was only considering the perspective of the ball after entering the robot. I can imagine a high speed might deflect the ball if it spins it fast enough to overcome static friction with the floor. These balls seem less prone to that, but I haven't seen how they behave on carpet at all. If we could get someone to test that aspect, it might simplify the code (if we find that it's not really an issue). But testing may be tricky, since you sort of need things mounted exactly as they will be in the final robot (which may not be decided) to accurately represent the physics.