Package frc.robot.launcher

Class Launcher

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.launcher.Launcher

All Implemented Interfaces:

Subsystem, SpectrumSubsystem

public class Launcher
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	Launcher.LauncherConfig

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
Launcher(Launcher.LauncherConfig config)

Method Summary

Modifier and Type	Method	Description
Trigger	aimingAtTarget()
Command	onTheFlyLaunch()
void	periodic()
Command	runTCcurrentLimits(DoubleSupplier torqueCurrent, DoubleSupplier supplyCurrent)
Command	runTorqueFOC(DoubleSupplier torque)
Command	runVoltageCurrentLimits(DoubleSupplier voltage, DoubleSupplier supplyCurrent, DoubleSupplier torqueCurrent)
void	setupDefaultCommand()	Set up the default command for this subsystem.
void	setupStates()	Set up the states and triggers for this subsystem.
void	setVoltageAndCurrentLimits(DoubleSupplier voltage, DoubleSupplier supply, DoubleSupplier torque)
void	simulationInit()
void	simulationPeriodic()
Command	stopMotor()
Command	trackTargetCommand()

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

Launcher

public Launcher(Launcher.LauncherConfig 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.

runTorqueFOC

public Command runTorqueFOC(DoubleSupplier torque)

setVoltageAndCurrentLimits

public void setVoltageAndCurrentLimits(DoubleSupplier voltage,
 DoubleSupplier supply,
 DoubleSupplier torque)

runVoltageCurrentLimits

public Command runVoltageCurrentLimits(DoubleSupplier voltage,
 DoubleSupplier supplyCurrent,
 DoubleSupplier torqueCurrent)

runTCcurrentLimits

public Command runTCcurrentLimits(DoubleSupplier torqueCurrent,
 DoubleSupplier supplyCurrent)

stopMotor

public Command stopMotor()

trackTargetCommand

public Command trackTargetCommand()

onTheFlyLaunch

public Command onTheFlyLaunch()

aimingAtTarget

public Trigger aimingAtTarget()

simulationInit

public void simulationInit()

simulationPeriodic

public void simulationPeriodic()

Specified by:

simulationPeriodic in interface Subsystem

Overrides:

simulationPeriodic in class Mechanism