Package frc.robot.subsystems.launcher

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 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
Launcher.LauncherConfig	getConfig()
frc.robot.subsystems.launcher.Launcher.LauncherSim	getSim()
void	periodic()	Called once per scheduler loop.
void	setWantedState(Launcher.WantedState state)
void	simulationInit()
void	simulationPeriodic()	Called once per simulation loop.

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, getVelocityTargetRPS, getVoltage, isAtRotations, isAttached, isAtTargetPosition, 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

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()

simulationPeriodic

public void simulationPeriodic()

Description copied from class: Mechanism

Called once per simulation loop. Concrete subclasses should override to update simulation state (e.g., physics model inputs).

Specified by:

simulationPeriodic in interface Subsystem

Overrides:

simulationPeriodic in class Mechanism

getConfig

public Launcher.LauncherConfig getConfig()

getSim

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