Package frc.robot.elevator

Class Elevator

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.elevator.Elevator

All Implemented Interfaces:

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

public class Elevator
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Elevator.ElevatorConfig

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
Elevator(Elevator.ElevatorConfig config)

Method Summary

Modifier and Type	Method	Description
frc.robot.elevator.Elevator.ElevatorSim	getSim()
edu.wpi.first.wpilibj2.command.Command	holdPosition()	Holds the position of the elevator.
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
edu.wpi.first.wpilibj2.command.Command	move(DoubleSupplier shrinkRotations, DoubleSupplier exRotations)
void	periodic()
edu.wpi.first.wpilibj2.command.Command	resetToInitialPos()
void	setupDefaultCommand()
void	setupStates()
void	simulationPeriodic()
edu.wpi.first.wpilibj2.command.Command	slowMove(DoubleSupplier shrinkRotations, DoubleSupplier exRotations)
edu.wpi.first.wpilibj2.command.Command	zeroElevatorRoutine()

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, moveToDegrees, 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

Elevator

public Elevator(Elevator.ElevatorConfig 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()

holdPosition

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

Holds the position of the elevator.

move

public edu.wpi.first.wpilibj2.command.Command move(DoubleSupplier shrinkRotations,
 DoubleSupplier exRotations)

slowMove

public edu.wpi.first.wpilibj2.command.Command slowMove(DoubleSupplier shrinkRotations,
 DoubleSupplier exRotations)

zeroElevatorRoutine

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

simulationPeriodic

public void simulationPeriodic()

Specified by:

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

Overrides:

simulationPeriodic in class Mechanism

getSim

public frc.robot.elevator.Elevator.ElevatorSim getSim()