Class SuperStructure

java.lang.Object

org.wpilib.command2.SubsystemBase

frc.robot.subsystems.SuperStructure

All Implemented Interfaces:

Subsystem, org.wpilib.util.sendable.Sendable

public class SuperStructure
extends SubsystemBase

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	SuperStructure.CurrentSuperState
static enum	SuperStructure.WantedSuperState

Constructor Summary

Constructors

Constructor	Description
SuperStructure(Swerve swerve, FuelIntake fuelIntake, IntakeExtension intakeExtension, IndexerTower indexerTower, IndexerBed indexerBed, Launcher launcher, Hood hood)

Method Summary

Modifier and Type	Method	Description
Command	brakeMechanisms()
Command	clearTrackingStops()	Releases every mechanism held by its tracking stop; one still stuck stops again.
Command	coastMechanisms()
SuperStructure.CurrentSuperState	getCurrentSuperState()
FuelIntake	getFuelIntake()
Hood	getHood()
IndexerBed	getIndexerBed()
IndexerTower	getIndexerTower()
IntakeExtension	getIntakeExtension()
Launcher	getLauncher()
ShotGate.Decision	getShotDecision()	This loop's gate decision.
Swerve	getSwerve()
SuperStructure.WantedSuperState	getWantedSuperState()
boolean	isAiming()	Whether the robot is tracking or launching at a target.
boolean	isFeeding()	Whether fuel is being fed into the flywheel this loop.
boolean	isLaunching()	Whether the current state is one that feeds the flywheel.
boolean	isRobotInEnemyZone()
boolean	isRobotInFeedZone()
boolean	isRobotInNeutralZone()
boolean	isRobotInScoreZone()
void	periodic()
Trigger	robotInEnemyZone()
Trigger	robotInFeedZone()
Trigger	robotInNeutralZone()
Trigger	robotInScoreZone()
void	setFeedOverride(BooleanSupplier override)	Sets the control that bypasses the gate while held.
Command	setShotCommand(ShotCalculator.SetShot shot)	Picks a fixed shot and requests SuperStructure.WantedSuperState.SET_SHOT in one command.
Command	setStateCommand(SuperStructure.WantedSuperState state)
void	setWantedSuperState(SuperStructure.WantedSuperState state)

Methods inherited from class SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class Object

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

Methods inherited from interface Subsystem

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

Constructor Details

SuperStructure

public SuperStructure(Swerve swerve,
 FuelIntake fuelIntake,
 IntakeExtension intakeExtension,
 IndexerTower indexerTower,
 IndexerBed indexerBed,
 Launcher launcher,
 Hood hood)

Method Details

periodic

public void periodic()

setFeedOverride

public void setFeedOverride(BooleanSupplier override)

Sets the control that bypasses the gate while held. Polled every loop (a supplier, not a scheduled command, so there is no interrupt edge case).

Parameters:

override - true while the operator wants the gate ignored

isLaunching

public boolean isLaunching()

Whether the current state is one that feeds the flywheel.

isAiming

public boolean isAiming()

Whether the robot is tracking or launching at a target.

isFeeding

public boolean isFeeding()

Whether fuel is being fed into the flywheel this loop.

coastMechanisms

public Command coastMechanisms()

clearTrackingStops

public Command clearTrackingStops()

Releases every mechanism held by its tracking stop; one still stuck stops again.

brakeMechanisms

public Command brakeMechanisms()

isRobotInNeutralZone

public boolean isRobotInNeutralZone()

isRobotInEnemyZone

public boolean isRobotInEnemyZone()

isRobotInFeedZone

public boolean isRobotInFeedZone()

isRobotInScoreZone

public boolean isRobotInScoreZone()

robotInNeutralZone

public Trigger robotInNeutralZone()

robotInEnemyZone

public Trigger robotInEnemyZone()

robotInFeedZone

public Trigger robotInFeedZone()

robotInScoreZone

public Trigger robotInScoreZone()

setWantedSuperState

public void setWantedSuperState(SuperStructure.WantedSuperState state)

setStateCommand

public Command setStateCommand(SuperStructure.WantedSuperState state)

setShotCommand

public Command setShotCommand(ShotCalculator.SetShot shot)

Picks a fixed shot and requests SuperStructure.WantedSuperState.SET_SHOT in one command.

Parameters:

shot - the parking spot

Returns:

the command

getSwerve

public Swerve getSwerve()

getFuelIntake

public FuelIntake getFuelIntake()

getIntakeExtension

public IntakeExtension getIntakeExtension()

getIndexerTower

public IndexerTower getIndexerTower()

getIndexerBed

public IndexerBed getIndexerBed()

getLauncher

public Launcher getLauncher()

getHood

public Hood getHood()

getWantedSuperState

public SuperStructure.WantedSuperState getWantedSuperState()

getCurrentSuperState

public SuperStructure.CurrentSuperState getCurrentSuperState()

getShotDecision

public ShotGate.Decision getShotDecision()

This loop's gate decision.