Coral

public class Coral extends SubsystemBase

Functions

public void algaeIntake()

Activates the algae intake process.

public void ejectAlgae()

Ejects the algae by setting the voltage output to 4.0 and controlling the coral score motor.

public boolean getCoralSensor()

Gets the state of the coral manipulator

public static Coral getInstance()

Returns the Singleton instance of this CoralManipulatorSubsystem.

public void periodic()

If the coral sensor is triggered, set the hasPiece boolean to true.

public void reverseMotors()

Starts the coral manipulator motors

public void scoreCoral()

Scores the coral motors

public void setHasPiece(boolean hasPiece)

Sets the state of whether the manipulator has a piece.

Sets the voltage output to -3.0 and controls the coral score motor to slow down the algae scoring process.

Starts the coral manipulator motors

Starts the coral manipulator motors

public void stopMotors()

Stops the coral manipulator motors