Gripper

Check the mechanical page for build info.

Grippers are mainly used to move and manipulate game pieces.

For the 2019 competition, we used a (flower?) gripper for hatches.

//TODO: insert pics for both

How do you do it?

public class FlowerGripper extends Mechanism {

    private SolenoidController m_gripper; // This is the controller similar to the turnController you have seen

    public FlowerGripper(){
        m_gripper = RobotProvider.instance.getSolenoid("gripper.flower"); 
    }

    public void extend() {
        m_gripper.set(true); //true will extend the gripper. See? easy.
    }

    public void retract() {
        m_gripper.set(false);
    }
}

###Notes and FAQs

• In order to getSolenoid for whatever input you are looking for, you need to make sure to connect that port to the robot and then add it to the config.