Class Hood

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.subsystems.hood.Hood

All Implemented Interfaces:

Subsystem

public class Hood
extends Mechanism

The Hood subsystem. Positions the hood that sets the fuel launch angle.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Hood.HoodConfig
static enum	Hood.SystemState
static enum	Hood.WantedState

Nested classes/interfaces inherited from class Mechanism

Mechanism.Config, Mechanism.FollowerConfig

Field Summary

Fields inherited from class Mechanism

followerMotors, motor

Constructor Summary

Constructors

Constructor	Description
Hood(Hood.HoodConfig config)

Method Summary

Modifier and Type	Method	Description
Hood.HoodConfig	getConfig()
HomingCheck.State	getHomingCheckState()	The homing state for the pre-match check; the hood homes itself at auto start.
double	getShotTargetDegrees()	Hood angle the current shot wants this loop, degrees; NaN when the hood is not on a shot.
frc.robot.subsystems.hood.Hood.HoodSim	getSim()
boolean	isZeroed()	The hood has found its bottom stop since boot and its readings show the zero, so its angle can be trusted.
void	periodic()	Called once per scheduler loop.
void	setWantedState(Hood.WantedState state)
void	simulationInit()

Methods inherited from class Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, all, applyCurrentLimit, atCurrent, atDegrees, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, belowDegrees, belowPercentage, belowRotations, belowVelocityRPM, checkAvgCurrent, checkMaxCurrent, checkMinThresholdCurrent, clampToSoftLimits, clearTrackingStop, coastMode, degreesToRotations, ensureBrakeMode, getCurrentCommandName, getFollowerMotors, getInputs, getLatencyCompensatedPositionDegrees, getLatencyCompensatedPositionRotations, getMotor, getName, getPositionDegrees, getPositionDegreesUncached, getPositionPercentage, getPositionRotations, getStatorCurrent, getSupplyCurrent, getTarget, getTemp, getVelocityRPM, getVelocityTargetRPS, getVoltage, hasSoftLimits, isAtRotations, isAttached, isAtTargetPosition, isMotorConnected, isPositionLost, isPositionWritePending, isTrackingStopped, logBatteryUsage, logDiagnostics, logDiagnostics, motorResetThisLoop, moveToDegrees, moveToPercentage, moveToRotations, percentToRotations, refreshSignalsOncePerLoop, rotationsToDegrees, rotationsToPercent, runCurrentLimits, runFocRotations, runningDefaultCommand, runPercentage, runStop, runTorqueCurrentFoc, runVelocity, runVelocityTcFocRPM, runVoltage, runVoltageNoSoftLimit, setBrakeMode, setCurrentLimits, setDynMMPositionFoc, setDynMMPositionVoltage, setMMPosition, setMMPosition, setMMPositionFoc, setMMVelocityFOC, setMotorPosition, setPercentOutput, setPosition, setPositionFocWithVelocity, setPositionWithVelocity, setTorqueCurrentFoc, setVelocity, setVelocityRPM, setVelocityTCFOCrpm, setVelocityTorqueCurrentFOC, setVoltageOutput, setVoltageOutputNoSoftLimit, simulateReboot, simulationPeriodic, softLimitsNeedReboot, stop, tareMotor, toggleReverseSoftLimit, toggleSupplyCurrentLimit, toggleTorqueCurrentLimit, updateInputs

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, startEnd, startRun

Constructor Details

Hood

public Hood(Hood.HoodConfig config)

Method Details

setWantedState

public void setWantedState(Hood.WantedState state)

isZeroed

public boolean isZeroed()

The hood has found its bottom stop since boot and its readings show the zero, so its angle can be trusted. Until then it holds in brake and the shot gate holds.

getHomingCheckState

public HomingCheck.State getHomingCheckState()

The homing state for the pre-match check; the hood homes itself at auto start.

periodic

public void periodic()

Description copied from class: Mechanism

Called once per scheduler loop. Concrete subclasses should override to implement their periodic state-machine logic, telemetry, and sensor updates.

Specified by:

periodic in interface Subsystem

Overrides:

periodic in class Mechanism

simulationInit

public void simulationInit()

getShotTargetDegrees

public double getShotTargetDegrees()

Hood angle the current shot wants this loop, degrees; NaN when the hood is not on a shot. Computed from logged inputs, so the shot gate that compares it with Mechanism.getPositionDegrees() replays.

getConfig

public Hood.HoodConfig getConfig()

getSim

public frc.robot.subsystems.hood.Hood.HoodSim getSim()