Hopper Capacity Detector

Disclaimer: WIP and untested; tune thresholds on your robot. Custom code built on WPILib APIs.

Code (Java)

public class HopperCapacity {
  private final DigitalInput beam;
  private final Timer fullTimer = new Timer();
  private final double fullSeconds;

  public HopperCapacity(int beamDio, double fullSeconds) {
    this.beam = new DigitalInput(beamDio);
    this.fullSeconds = fullSeconds;
  }

  public boolean isFull() {
    if (beam.get()) {
      if (!fullTimer.isRunning()) fullTimer.start();
      return fullTimer.hasElapsed(fullSeconds);
    } else {
      fullTimer.stop(); fullTimer.reset();
      return false;
    }
  }
}

Usage in indexer: if isFull() is true during inactive hub, stop intake; when hub goes active, switch to burst.