Class Launcher

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.subsystems.launcher.Launcher

All Implemented Interfaces:

Subsystem

public class Launcher
extends Mechanism

The Launcher subsystem. Four-motor flywheel that launches fuel at the hub.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Launcher.LauncherConfig
static enum	Launcher.SystemState
static enum	Launcher.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
Launcher(Launcher.LauncherConfig config)

Method Summary

Modifier and Type	Method	Description
Launcher.LauncherConfig	getConfig()
double	getShotTargetRPM()	Flywheel speed the current shot wants this loop, RPM; 0 when the flywheel is not on a shot.
frc.robot.subsystems.launcher.Launcher.LauncherSim	getSim()
void	periodic()	Called once per scheduler loop.
void	setWantedState(Launcher.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

Launcher

public Launcher(Launcher.LauncherConfig config)

Method Details

setWantedState

public void setWantedState(Launcher.WantedState state)

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()

getShotTargetRPM

public double getShotTargetRPM()

Flywheel speed the current shot wants this loop, RPM; 0 when the flywheel is not on a shot. Computed from logged inputs (the shot solution), never read back from the motor, so the shot gate that compares it with Mechanism.getVelocityRPM() replays.

getConfig

public Launcher.LauncherConfig getConfig()

getSim

public frc.robot.subsystems.launcher.Launcher.LauncherSim getSim()