Package frc.robot.climb

Class Climb

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.climb.Climb

All Implemented Interfaces:

edu.wpi.first.networktables.NTSendable, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem, SpectrumSubsystem

public class Climb
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Climb.ClimbConfig

Nested classes/interfaces inherited from class frc.spectrumLib.mechanism.Mechanism

Mechanism.Config, Mechanism.FollowerConfig

Field Summary

Fields inherited from class frc.spectrumLib.mechanism.Mechanism

followerMotors, motor

Constructor Summary

Constructors

Constructor	Description
Climb(Climb.ClimbConfig config)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	closeLatch()
SpectrumState	getLatched()
frc.robot.climb.Climb.ClimbSim	getSim()
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
edu.wpi.first.wpilibj2.command.Command	moveToDegrees(DoubleSupplier degrees)	Move to the specified position.
DoubleSupplier	offsetPosition(DoubleSupplier position)
edu.wpi.first.wpilibj2.command.Command	openLatch()
void	periodic()
edu.wpi.first.wpilibj2.command.Command	resetToInitialPos()
edu.wpi.first.wpilibj2.command.Command	runHoldClimb()
void	setupDefaultCommand()
void	setupStates()
void	simulationPeriodic()
edu.wpi.first.wpilibj2.command.Command	zeroClimbRoutine()

Methods inherited from class frc.spectrumLib.mechanism.Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, applyCurrentLimit, atCurrent, atDegrees, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, belowDegrees, belowPercentage, belowRotations, belowVelocityRPM, checkAvgCurrent, checkMaxCurrent, checkMinThresholdCurrent, coastMode, degreesToRotations, ensureBrakeMode, getCurrentCommandName, getFollowerMotors, getMotor, getName, getPositionDegrees, getPositionPercentage, getPositionRotations, getStatorCurrent, getTarget, getVelocityRPM, getVoltage, isAttached, moveToPercentage, moveToRotations, percentToRotations, rotationsToDegrees, rotationsToPercent, runCurrentLimits, runFocRotations, runningDefaultCommand, runPercentage, runStop, runTorqueCurrentFoc, runVelocity, runVelocityTcFocRpm, runVoltage, setBrakeMode, setCurrentLimits, setDynMMPositionFoc, setMMPosition, setMMPosition, setMMPositionFoc, setMMVelocityFOC, setMotorPosition, setPercentOutput, setTorqueCurrentFoc, setVelocity, setVelocityTCFOCrpm, setVelocityTorqueCurrentFOC, setVoltageOutput, stop, tareMotor, telemetryInit, toggleReverseSoftLimit, toggleSupplyCurrentLimit, toggleTorqueCurrentLimit, updateCurrent, updateVoltage

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.networktables.NTSendable

initSendable

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd, startRun

Constructor Details

Climb

public Climb(Climb.ClimbConfig config)

Method Details

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

periodic in class Mechanism

setupStates

public void setupStates()

setupDefaultCommand

public void setupDefaultCommand()

initSendable

public void initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)

Specified by:

initSendable in interface edu.wpi.first.networktables.NTSendable

Overrides:

initSendable in class Mechanism

resetToInitialPos

public edu.wpi.first.wpilibj2.command.Command resetToInitialPos()

runHoldClimb

public edu.wpi.first.wpilibj2.command.Command runHoldClimb()

zeroClimbRoutine

public edu.wpi.first.wpilibj2.command.Command zeroClimbRoutine()

moveToDegrees

public edu.wpi.first.wpilibj2.command.Command moveToDegrees(DoubleSupplier degrees)

Description copied from class: Mechanism

Move to the specified position.

Overrides:

moveToDegrees in class Mechanism

Parameters:

degrees - position in degrees

offsetPosition

public DoubleSupplier offsetPosition(DoubleSupplier position)

openLatch

public edu.wpi.first.wpilibj2.command.Command openLatch()

closeLatch

public edu.wpi.first.wpilibj2.command.Command closeLatch()

simulationPeriodic

public void simulationPeriodic()

Specified by:

simulationPeriodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

simulationPeriodic in class Mechanism

getLatched

public SpectrumState getLatched()

getSim

public frc.robot.climb.Climb.ClimbSim getSim()