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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ void partialDefinitions() {
// [mechanismDef]
class Intake implements Mechanism {
// Store any motors specific to the mechanism as private members.
// This can include TalonFX, SparkMax and/or SparkFlex instances.
// This can include TalonFX, Spark Max and/or Spark Flex instances.
private final ExampleMotor motor = new ExampleMotor();
}
// [/mechanismDef]
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Expand Up @@ -13,7 +13,7 @@
class CommandsAndMechsPt2 {
// [defaultCommand]
class Intake implements Mechanism {
// Placeholder for TalonFX, SparkMax or SparkFlex
// Placeholder for TalonFX, Spark Max or Spark Flex
private final ExampleMotor motor = new ExampleMotor();

public Intake() {
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Expand Up @@ -5,7 +5,7 @@
*/
package sources;

/** This class acts as a stand-in for a TalonFX, SparkMax, etc. in snippets. */
/** This class acts as a stand-in for a TalonFX, Spark Max, etc. in snippets. */
public class ExampleMotor {
void setThrottle(double throttle) {}

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Expand Up @@ -72,7 +72,7 @@ public Robot() {
void incorrectUsages() {
// [runAtThrottleDouble]
class Intake implements Mechanism {
// Placeholder for TalonFX, SparkMax or SparkFlex
// Placeholder for TalonFX, Spark Max or Spark Flex
private final ExampleMotor motor = new ExampleMotor();

public Command runAtThrottle(double throttle) {
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Expand Up @@ -54,7 +54,7 @@ Then, create a new file in the `mechanisms` package named `Feeder.java`.
Define a class named `Feeder` that implements `Mechanism`, then add the following:

1. A private `TalonFX` motor controller object, named `motor`, with an ID of 5.
It is connected to a systemcore CANBus with ID 0.
It is connected to a SystemCore CANBus with ID 0.
2. A `feed()` command that sets the throttle of the motor to 0.75 forever.
3. An `intake()` command that sets the throttle of the motor to -1 forever.
4. An `outtake()` command that sets the throttle of the motor to 1 forever.
Expand Down Expand Up @@ -113,7 +113,7 @@ Create a file named `IntakeLauncher.java` in the `mechanisms` package.
Define a class named `IntakeLauncher` that implements `Mechanism`; then, add the following:

1. A private `TalonFX` motor controller object, named `motor`, with an ID of 4.
It is connected to a systemcore CANBus with ID 0.
It is connected to a SystemCore CANBus with ID 0.
2. A `shoot()` command that waits 2 seconds, then sets the throttle of the motor to 0.9 forever.
3. A `intake()` command that sets throttle to 0.8 forever.
4. A `outtake()` command that sets throttle to -0.8 forever.
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