Package frc.robot.turretRotationalPivot

Class RotationalPivot

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.turretRotationalPivot.RotationalPivot

All Implemented Interfaces:

edu.wpi.first.networktables.NTSendable, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem, SpectrumSubsystem

public class RotationalPivot
extends Mechanism

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	RotationalPivot.RotationalPivotConfig

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
RotationalPivot(RotationalPivot.RotationalPivotConfig config)

Method Summary

Modifier and Type	Method	Description
void	aimFieldRelative(edu.wpi.first.math.geometry.Rotation2d fieldAngle, double goalVelocity)
Trigger	aimingAtTarget()
Trigger	atDegrees(DoubleSupplier target, DoubleSupplier tolerance)
RotationalPivot.RotationalPivotConfig	getConfig()
frc.robot.turretRotationalPivot.RotationalPivot.RotationalPivotSim	getSim()
void	initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)
edu.wpi.first.wpilibj2.command.Command	moveToDegrees(DoubleSupplier degrees)	Move to the specified position.
void	periodic()
edu.wpi.first.wpilibj2.command.Command	resetToInitialPos()
edu.wpi.first.wpilibj2.command.Command	runHoldTurret()	Holds the position of the Turret.
void	setupDefaultCommand()	Set up the default command for this subsystem.
void	setupStates()	Set up the states and triggers for this subsystem.
void	simulationPeriodic()
edu.wpi.first.wpilibj2.command.Command	trackTargetCommand()

Methods inherited from class frc.spectrumLib.mechanism.Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, applyCurrentLimit, atCurrent, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, belowDegrees, belowPercentage, belowRotations, belowVelocityRPM, checkAvgCurrent, checkMaxCurrent, checkMinThresholdCurrent, coastMode, degreesToRotations, ensureBrakeMode, getCurrentCommandName, getFollowerMotors, getMotor, getName, getPositionDegrees, getPositionPercentage, getPositionRotations, getStatorCurrent, getTarget, getVelocityRPM, getVoltage, isAttached, moveToPercentage, moveToRotations, percentToRotations, rotationsToDegrees, rotationsToPercent, runCurrentLimits, runFocRotations, runningDefaultCommand, runPercentage, runStop, runTorqueCurrentFoc, runVelocity, runVelocityTcFocRpm, runVoltage, setBrakeMode, setCurrentLimits, setDynMMPositionFoc, setMMPosition, setMMPosition, setMMPositionFoc, setMMVelocityFOC, setMotorPosition, setPercentOutput, setTorqueCurrentFoc, setVelocity, setVelocityTCFOCrpm, setVelocityTorqueCurrentFOC, setVoltageOutput, stop, tareMotor, telemetryInit, toggleReverseSoftLimit, toggleSupplyCurrentLimit, toggleTorqueCurrentLimit, updateCurrent, 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.networktables.NTSendable

initSendable

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

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

Constructor Details

RotationalPivot

public RotationalPivot(RotationalPivot.RotationalPivotConfig config)

Method Details

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.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.

initSendable

public void initSendable(edu.wpi.first.networktables.NTSendableBuilder builder)

Specified by:

initSendable in interface edu.wpi.first.networktables.NTSendable

Overrides:

initSendable in class Mechanism

resetToInitialPos

public edu.wpi.first.wpilibj2.command.Command resetToInitialPos()

aimFieldRelative

public void aimFieldRelative(edu.wpi.first.math.geometry.Rotation2d fieldAngle,
 double goalVelocity)

trackTargetCommand

public edu.wpi.first.wpilibj2.command.Command trackTargetCommand()

runHoldTurret

public edu.wpi.first.wpilibj2.command.Command runHoldTurret()

Holds the position of the Turret.

moveToDegrees

public edu.wpi.first.wpilibj2.command.Command moveToDegrees(DoubleSupplier degrees)

Description copied from class: Mechanism

Move to the specified position.

Overrides:

moveToDegrees in class Mechanism

Parameters:

degrees - position in degrees

atDegrees

public Trigger atDegrees(DoubleSupplier target,
 DoubleSupplier tolerance)

Overrides:

atDegrees in class Mechanism

aimingAtTarget

public Trigger aimingAtTarget()

simulationPeriodic

public void simulationPeriodic()

Specified by:

simulationPeriodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

simulationPeriodic in class Mechanism

getConfig

public RotationalPivot.RotationalPivotConfig getConfig()

getSim

public frc.robot.turretRotationalPivot.RotationalPivot.RotationalPivotSim getSim()