Package frc.robot.elbow

Class Elbow

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.elbow.Elbow

All Implemented Interfaces:

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

public class Elbow
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Elbow.ElbowConfig

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
Elbow(Elbow.ElbowConfig config)

Method Summary

Modifier and Type	Method	Description
Trigger	aboveDegrees(DoubleSupplier degrees, DoubleSupplier tolerance)
Trigger	atDegrees(DoubleSupplier degrees, DoubleSupplier tolerance)
Trigger	belowDegrees(DoubleSupplier degrees, DoubleSupplier tolerance)
double	checkNegative(DoubleSupplier degrees)
Elbow.ElbowConfig	getConfig()
DoubleSupplier	getIfReversedDegrees(DoubleSupplier degrees)
DoubleSupplier	getIfReversedOffsetInRotations(DoubleSupplier degrees)
DoubleSupplier	getOffsetRotations(DoubleSupplier degrees)
double	getPositionWithNegative()
frc.robot.elbow.Elbow.ElbowSim	getSim()
edu.wpi.first.wpilibj2.command.Command	groundMove(DoubleSupplier degrees)
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
edu.wpi.first.wpilibj2.command.Command	move(DoubleSupplier degrees)
edu.wpi.first.wpilibj2.command.Command	move(DoubleSupplier shrinkDegrees, DoubleSupplier exDegrees)
edu.wpi.first.wpilibj2.command.Command	moveToDegrees(DoubleSupplier degrees)	Move to the specified position.
edu.wpi.first.wpilibj2.command.Command	moveToMotorPosition(DoubleSupplier position)
DoubleSupplier	offsetPosition(DoubleSupplier position)
void	periodic()
edu.wpi.first.wpilibj2.command.Command	resetToInitialPos()
edu.wpi.first.wpilibj2.command.Command	runHoldElbow()	Holds the position of the Elbow.
void	setupDefaultCommand()
void	setupStates()
void	simulationPeriodic()
edu.wpi.first.wpilibj2.command.Command	slowMove(DoubleSupplier degrees)
edu.wpi.first.wpilibj2.command.Command	zeroElbowRoutine()

Methods inherited from class frc.spectrumLib.mechanism.Mechanism

aboveCurrent, abovePercentage, aboveRotations, aboveVelocityRPM, applyCurrentLimit, atCurrent, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, 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

Elbow

public Elbow(Elbow.ElbowConfig 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()

getPositionWithNegative

public double getPositionWithNegative()

belowDegrees

public Trigger belowDegrees(DoubleSupplier degrees,
 DoubleSupplier tolerance)

Overrides:

belowDegrees in class Mechanism

aboveDegrees

public Trigger aboveDegrees(DoubleSupplier degrees,
 DoubleSupplier tolerance)

Overrides:

aboveDegrees in class Mechanism

atDegrees

public Trigger atDegrees(DoubleSupplier degrees,
 DoubleSupplier tolerance)

Overrides:

atDegrees in class Mechanism

zeroElbowRoutine

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

runHoldElbow

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

Holds the position of the Elbow.

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

checkNegative

public double checkNegative(DoubleSupplier degrees)

move

public edu.wpi.first.wpilibj2.command.Command move(DoubleSupplier shrinkDegrees,
 DoubleSupplier exDegrees)

move

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

slowMove

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

groundMove

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

getIfReversedOffsetInRotations

public DoubleSupplier getIfReversedOffsetInRotations(DoubleSupplier degrees)

getIfReversedDegrees

public DoubleSupplier getIfReversedDegrees(DoubleSupplier degrees)

getOffsetRotations

public DoubleSupplier getOffsetRotations(DoubleSupplier degrees)

moveToMotorPosition

public edu.wpi.first.wpilibj2.command.Command moveToMotorPosition(DoubleSupplier position)

offsetPosition

public DoubleSupplier offsetPosition(DoubleSupplier position)

simulationPeriodic

public void simulationPeriodic()

Specified by:

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

Overrides:

simulationPeriodic in class Mechanism

getConfig

public Elbow.ElbowConfig getConfig()

getSim

public frc.robot.elbow.Elbow.ElbowSim getSim()