tags:
  - stub
aliases:
  - Intake

SuperStructure Intake

Requires:
SuperStructure Rollers
Sensing Basics

Recommends:
State Machines

Requires as needed:
SuperStructure Rollers
SuperStructure Elevator
SuperStructure Arm

Success Criteria

Create an "over the bumper" intake system
Add a controller button to engage the intake process. It must retract when released
The button must automatically stop and retract the intake when a game piece is retracted

Synopsis

Intake complexity can range from very simple rollers that capture a game piece, to complex actuated systems intertwined with other scoring mechanisms.

A common "over the bumper" intake archetype is a deployed system that

Actuates outward past the frame perimeter
Engages rollers to intake game piece
Retracts with the game piece upon completion of a game piece

The speed of deployment and retraction both impact cycle times, forming a critical competitive aspect of the bot.

The automatic detection and retraction provide cycle advantages (streamlining the driver experience), but also prevent fouls and damage due to the collisions on the deployed mechanism.