Section 4.5 - Implementing an Intake Subsystem
Get Those Game Pieces!
This lesson will guide you through creating an intake subsystem, along with its associated commands and button bindings. You will start by setting up a new subsystem that initializes the motor with default configurations and creates methods to control the motor's percent output. Next, you will develop the RunIntakeCommand, ensuring it updates the SmartDashboard to display "INTAKE RUNNING," followed by the IntakeEjectCommand, which will show "INTAKE EJECTING" on the SmartDashboard as well. Finally, you will learn how to bind these commands to buttons, utilizing a whileHeld mechanism for the intake command and a toggle for the eject command, allowing for intuitive control of the intake system during operation.