Package frc.robot.shoulder

Class Shoulder

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.shoulder.Shoulder

All Implemented Interfaces:

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

public class Shoulder
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Shoulder.ShoulderConfig

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

Mechanism.Config, Mechanism.FollowerConfig

Field Summary

Fields

Modifier and Type	Field	Description
protected SpectrumCANcoder	canCoder
protected SpectrumCANcoderConfig	canCoderConfig
protected Shoulder.ShoulderConfig	config

Fields inherited from class frc.spectrumLib.mechanism.Mechanism

followerMotors, motor

Constructor Summary

Constructors

Constructor	Description
Shoulder(Shoulder.ShoulderConfig 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	checkMoveOverTop(DoubleSupplier degrees)
DoubleSupplier	getIfReversedDegrees(DoubleSupplier degrees)
DoubleSupplier	getIfReversedOffsetInRotations(DoubleSupplier degrees)
DoubleSupplier	getOffsetRotations(DoubleSupplier degrees)
frc.robot.shoulder.Shoulder.ShoulderSim	getSim()
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.
DoubleSupplier	offsetPosition(DoubleSupplier position)
void	periodic()
edu.wpi.first.wpilibj2.command.Command	resetToIntialPos()
edu.wpi.first.wpilibj2.command.Command	runHoldShoulder()	Holds the position of the Shoulder.
void	setupDefaultCommand()
void	setupStates()
void	simulationPeriodic()
edu.wpi.first.wpilibj2.command.Command	slowMove(DoubleSupplier degrees)
edu.wpi.first.wpilibj2.command.Command	zeroShoulderRoutine()

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

Field Details

config

protected Shoulder.ShoulderConfig config

canCoder

protected SpectrumCANcoder canCoder

canCoderConfig

protected SpectrumCANcoderConfig canCoderConfig

Constructor Details

Shoulder

public Shoulder(Shoulder.ShoulderConfig 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

resetToIntialPos

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

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

zeroShoulderRoutine

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

runHoldShoulder

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

Holds the position of the Shoulder.

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

checkMoveOverTop

public double checkMoveOverTop(DoubleSupplier degrees)

move

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

slowMove

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

move

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

getIfReversedOffsetInRotations

public DoubleSupplier getIfReversedOffsetInRotations(DoubleSupplier degrees)

getIfReversedDegrees

public DoubleSupplier getIfReversedDegrees(DoubleSupplier degrees)

getOffsetRotations

public DoubleSupplier getOffsetRotations(DoubleSupplier degrees)

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

getSim

public frc.robot.shoulder.Shoulder.ShoulderSim getSim()