Package frc.robot.twist

Class Twist

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.twist.Twist

All Implemented Interfaces:

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

public class Twist
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Twist.TwistConfig

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
Twist(Twist.TwistConfig config)

Method Summary

Modifier and Type	Method	Description
double	adjustTargetToReverse(DoubleSupplier degrees)
Trigger	atDegrees(DoubleSupplier target, DoubleSupplier tolerance)
Twist.TwistConfig	getConfig()
DoubleSupplier	getIfReversedDegrees(DoubleSupplier degrees)
frc.robot.twist.TwistSim	getSim()
edu.wpi.first.wpilibj2.command.Command	homeAwayFromElevator(DoubleSupplier degrees)
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
edu.wpi.first.wpilibj2.command.Command	move(DoubleSupplier targetDegrees, boolean clockwise)
edu.wpi.first.wpilibj2.command.Command	moveAwayFromBranchCheckReversed(DoubleSupplier degrees)
edu.wpi.first.wpilibj2.command.Command	moveAwayFromElevator(DoubleSupplier degrees)
edu.wpi.first.wpilibj2.command.Command	moveAwayFromElevatorCheckReverse(DoubleSupplier degrees)
edu.wpi.first.wpilibj2.command.Command	moveAwayFromElevatorReversed(DoubleSupplier degrees)
edu.wpi.first.wpilibj2.command.Command	moveToDegrees(DoubleSupplier degrees)	Move to the specified position.
edu.wpi.first.wpilibj2.command.Command	netTurret()
Boolean	netTurretClockwise()
double	netTurretDegrees()
void	periodic()
edu.wpi.first.wpilibj2.command.Command	resetToInitialPos()
edu.wpi.first.wpilibj2.command.Command	runHoldTwist()	Holds the position of the Twist.
void	setupDefaultCommand()
void	setupStates()
void	simulationPeriodic()
edu.wpi.first.wpilibj2.command.Command	twistHome()

Methods inherited from class frc.spectrumLib.mechanism.Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, applyCurrentLimit, atCurrent, 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

Twist

public Twist(Twist.TwistConfig 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()

runHoldTwist

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

Holds the position of the Twist.

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

move

public edu.wpi.first.wpilibj2.command.Command move(DoubleSupplier targetDegrees,
 boolean clockwise)

moveAwayFromElevatorCheckReverse

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

moveAwayFromElevator

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

moveAwayFromElevatorReversed

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

homeAwayFromElevator

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

moveAwayFromBranchCheckReversed

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

netTurretDegrees

public double netTurretDegrees()

netTurret

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

netTurretClockwise

public Boolean netTurretClockwise()

adjustTargetToReverse

public double adjustTargetToReverse(DoubleSupplier degrees)

getIfReversedDegrees

public DoubleSupplier getIfReversedDegrees(DoubleSupplier degrees)

twistHome

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

atDegrees

public Trigger atDegrees(DoubleSupplier target,
 DoubleSupplier tolerance)

Overrides:

atDegrees in class Mechanism

simulationPeriodic

public void simulationPeriodic()

Specified by:

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

Overrides:

simulationPeriodic in class Mechanism

getConfig

public Twist.TwistConfig getConfig()

getSim

public frc.robot.twist.TwistSim getSim()