Intake Requirements

• Able to rotate each motor individually at varying speeds
• Should be easily adjustable in SmartDashboard
• One button for intake and one button for outtake
  • Hold the buttons to keep motors spinning, let go and they stop
• Talons need to be in torque (current) mode
  • Should have voltage mode as a backup in case torque mode doesn’t work
• Disables intake motors when limit switch is activated temporarily
  • Notify drive team when limit switch is activated
  • Outtake overrides limit switch
• <1 second intake from contact to fully secure in robot
• <½ second outtake
• Able to retract mechanism quickly into the robot using pistons