package Ġcom . team 4 0 9 9 . robot 2 0 2 2 . sub systems . int ake Ċ Ċ import Ġcom . team 4 0 9 9 . lib . hal . Clock Ċ import Ġcom . team 4 0 9 9 . lib . units . base . in Seconds Ċ import Ġcom . team 4 0 9 9 . robot 2 0 2 2 . config . constants . Int ake Constants Ċ import Ġcom . team 4 0 9 9 . robot 2 0 2 2 . config . constants . LED Constants Ċ import Ġedu . wpi . first . wp ilib j 2 . command . Subsystem Base Ċ import Ġorg . lit t leton robot ics . junction . Logger Ċ Ċ class ĠInt ake ( val Ġio : ĠInt ake IO ) Ġ: ĠSub system Base () Ġ{ ĊĊĠ Ġval Ġinputs Ġ= ĠInt ake IO . Int ake IO Inputs () ĊĊĠ Ġvar Ġ roller State Ġ= ĠInt ake Constants . Rol ler State . IDLE ĊĠĠĠ Ġset ( state ) Ġ{ ĊĠĠĠĠĠ Ġio . set Rol ler Power ( state . speed ) ĊĠĠĠĠĠ Ġif Ġ( state Ġ== ĠInt ake Constants . Rol ler State . IN ) Ġ{ ĊĠĠĠĠĠĠĠ Ġextend Time Ġ= ĠClock . fpga Time ĊĠĠĠĠĠ Ġ} ĊĠĠĠĠĠ Ġfield Ġ= Ġstate ĊĠĠĠ Ġ} ĊĊĠ Ġvar Ġarm State Ġ= ĠInt ake Constants . Arm State . IN ĊĠĠĠ Ġset ( state ) Ġ{ ĊĠĠĠĠĠ Ġio . set Arm Sol en oid ( state . out ) ĊĠĠĠĠĠ Ġfield Ġ= Ġstate ĊĠĠĠ Ġ} ĊĊĠ Ġval Ġint aking Ball : ĠBoolean ĊĠĠĠ Ġget () Ġ{ ĊĠĠĠĠĠ Ġreturn Ġinputs . roller St ator Current Ġ>= ĠLED Constants . INT A KE _ CURRENT _ THRESHOLD Ġ&& ĊĠĠĠĠĠĠĠ Ġ roller State Ġ== ĠInt ake Constants . Rol ler State . IN Ġ&& ĊĠĠĠĠĠĠĠ Ġ( Clock . fpga Time Ġ- Ġextend Time ) Ġ>= ĠInt ake Constants . INT AK ING _ WAIT _ BEFORE _ DETECT _ CURRENT _ SPI KE ĊĠĠĠ Ġ} ĊĊĠ Ġval Ġout t aking Ball : ĠBoolean ĊĠĠĠ Ġget () Ġ{ ĊĠĠĠĠĠ Ġreturn Ġinputs . roller St ator Current Ġ>= ĠLED Constants . OUT A KE _ CURRENT _ THRESHOLD Ġ&& ĊĠĠĠĠĠĠĠ Ġ roller State Ġ== ĠInt ake Constants . Rol ler State . OUT Ġ&& ĊĠĠĠĠĠĠĠ Ġ( Clock . fpga Time Ġ- Ġextend Time ) Ġ>= ĠInt ake Constants . INT AK ING _ WAIT _ BEFORE _ DETECT _ CURRENT _ SPI KE ĊĠĠĠ Ġ} ĊĊĠ Ġvar Ġextend Time Ġ= ĠClock . fpga Time ĊĊĠ Ġvar Ġlast Int ake Spi ke Time Ġ= ĠClock . fpga Time ĊĠ Ġvar Ġkeep Int aking LED State : ĠBoolean Ġ= Ġfalse ĊĊĠ Ġinit Ġ{ ĊĠĠĠ Ġ// Ġnecessary Ġbecause Ġthe Ġsetter Ġis Ġnot Ġcalled Ġon Ġinitialization ĊĠĠĠ Ġ roller State Ġ= Ġ roller State ĊĠĠĠ Ġarm State Ġ= Ġarm State ĊĠ Ġ} ĊĊĠ Ġoverride Ġfun Ġperiodic () Ġ{ ĊĠĠĠ Ġio . update Inputs ( inputs ) ĊĊĠĠĠ Ġif Ġ( int aking Ball Ġ|| Ġout t aking Ball ) Ġ{ ĊĠĠĠĠĠ Ġlast Int ake Spi ke Time Ġ= ĠClock . fpga Time ĊĠĠĠ Ġ} ĊĊĠĠĠ Ġkeep Int aking LED State Ġ= ĊĠĠĠĠĠ ĠClock . fpga Time Ġ- Ġlast Int ake Spi ke Time Ġ<= ĠInt ake Constants . WAIT _ FOR _ STATE _ TO _ CHANGE ĊĊĠĠĠ ĠLogger . getInstance (). process Inputs (" Int ake ", Ġinputs ) ĊĠĠĠ ĠLogger . getInstance (). record Output (" Int ake / roller State ", Ġ roller State . name ) ĊĠĠĠ ĠLogger . getInstance (). record Output (" Int ake / arm State ", Ġarm State . name ) ĊĠĠĠ ĠLogger . getInstance (). record Output (" Int ake / int aking Ball ", Ġint aking Ball ) ĊĠĠĠ ĠLogger . getInstance (). record Output (" Int ake / out t aking Ball ", Ġout t aking Ball ) ĊĠĠĠ ĠLogger . getInstance (). record Output (" Int ake / int aking LED State ", Ġkeep Int aking LED State ) ĊĠĠĠ ĠLogger . getInstance (). record Output (" Int ake / extend Time ", Ġextend Time . in Seconds ) ĊĠ Ġ} Ċ } Ċ