Program intake

[godmar]

@avidraccoon could we use this issue to discuss the design of the intake subsystem?

[godmar]

Preston says that the intake will likely use a leader/follower motor pair.

[PChild]

Intake mass and distance from pivot for sim:

Motors:

• 1x Kraken X60 on 42.5:1 reduction for intake pivot
• 2x Kraken X60 on 2:1 reduction for rollers. This is the leader / follower setup.

[PChild]

It's looking like intake will be the first system mechanically done, can we get this ready to test relatively soon please?

[godmar]

@avidraccoon I don't see a branch for this yet.
Could you make one and briefly describe the actions this subsystems takes and supports along with its state machine?

My guesses/questions:

• the rollers need to turn off and on and will rotate at a constant (or variable?) speed
• the pivot intake goes up and down and how will it be stopped? With mechanical stops?
• does it need any dejamming?
• there are no encoders or we are using the motor encoder for pivot position/angle?