Package frc.robot.intakeExtension

Class IntakeExtension

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.intakeExtension.IntakeExtension

All Implemented Interfaces:

Subsystem, SpectrumSubsystem

public class IntakeExtension
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	IntakeExtension.IntakeExtensionConfig

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
IntakeExtension(IntakeExtension.IntakeExtensionConfig config)

Method Summary

Modifier and Type	Method	Description
IntakeExtension.IntakeExtensionConfig	getConfig()
frc.robot.intakeExtension.IntakeExtension.IntakeExtensionSim	getSim()
Command	motionMagicPercentMove(DoubleSupplier percent)
Command	move(DoubleSupplier rotations)
void	periodic()
void	resetCurrentPositionToMax()
Command	resetToInitialPos()
Command	runHoldIntakeExtension()	Holds the position of the Intake Extension.
void	setupDefaultCommand()	Set up the default command for this subsystem.
void	setupStates()	Set up the states and triggers for this subsystem.
void	simulationPeriodic()
Command	slowMoveToPercent(DoubleSupplier percent)

Methods inherited from class frc.spectrumLib.mechanism.Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, applyCurrentLimit, atCurrent, atDegrees, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, belowDegrees, belowPercentage, belowRotations, belowVelocityRPM, checkAvgCurrent, checkMaxCurrent, checkMinThresholdCurrent, coastMode, degreesToRotations, ensureBrakeMode, getCurrentCommandName, getFollowerMotors, getMotor, getName, getPositionDegrees, getPositionPercentage, getPositionRotations, getStatorCurrent, getSupplyCurrent, getTarget, getTemp, getVelocityRPM, getVoltage, isAttached, logBatteryUsage, moveToDegrees, moveToPercentage, moveToRotations, percentToRotations, rotationsToDegrees, rotationsToPercent, runCurrentLimits, runFocRotations, runningDefaultCommand, runPercentage, runStop, runTorqueCurrentFoc, runVelocity, runVelocityTcFocRPM, runVoltage, runVoltageNoSoftLimit, setBrakeMode, setCurrentLimits, setDynMMPositionFoc, setDynMMPositionVoltage, setMMPosition, setMMPosition, setMMPositionFoc, setMMVelocityFOC, setMotorPosition, setPercentOutput, setTorqueCurrentFoc, setVelocity, setVelocityTCFOCrpm, setVelocityTorqueCurrentFOC, setVoltageOutput, setVoltageOutputNoSoftLimit, stop, tareMotor, toggleReverseSoftLimit, toggleSupplyCurrentLimit, toggleTorqueCurrentLimit, updateStatorCurrent, updateSupplyCurrent, updateTemp, 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.wpilibj2.command.Subsystem

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

Constructor Details

IntakeExtension

public IntakeExtension(IntakeExtension.IntakeExtensionConfig config)

Method Details

periodic

public void periodic()

Specified by:

periodic in interface Subsystem

Overrides:

periodic in class Mechanism

setupStates

public void setupStates()

Description copied from interface: SpectrumSubsystem

Set up the states and triggers for this subsystem. This is typically used to bind commands to SpectrumState triggers.

setupDefaultCommand

public void setupDefaultCommand()

Description copied from interface: SpectrumSubsystem

Set up the default command for this subsystem. This command will run when no other command is using this subsystem.

resetCurrentPositionToMax

public void resetCurrentPositionToMax()

resetToInitialPos

public Command resetToInitialPos()

runHoldIntakeExtension

public Command runHoldIntakeExtension()

Holds the position of the Intake Extension.

move

public Command move(DoubleSupplier rotations)

motionMagicPercentMove

public Command motionMagicPercentMove(DoubleSupplier percent)

slowMoveToPercent

public Command slowMoveToPercent(DoubleSupplier percent)

simulationPeriodic

public void simulationPeriodic()

Specified by:

simulationPeriodic in interface Subsystem

Overrides:

simulationPeriodic in class Mechanism

getConfig

public IntakeExtension.IntakeExtensionConfig getConfig()

getSim

public frc.robot.intakeExtension.IntakeExtension.IntakeExtensionSim getSim()