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Roller Mechanism

The roller mechanism is designed for rotating drums or wheels that intake or outtake game pieces. It supports position, velocity, and duty cycle control.

Common Use Cases​

  • Intakes
  • Indexers
  • Conveyors

Typical Controls​

  • Velocity control for consistent intake/outtake.
  • Duty cycle for manual control.
  • Position control if you need a precise indexer rotation.

Common Methods​

  • setTargetPosition(angle)
  • setTargetVelocity(angularVelocity)
  • setTargetDutyCycle(dutyCycle)
  • getCurrentPosition()
  • getCurrentVelocity()

Tips​

  • Use current sensing or beam break sensors in your subsystem to detect game pieces.
  • Position control is useful for indexers with fixed pockets.