Package frc.robot.subsystems

Class Arm

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.Arm
All Implemented Interfaces:
Sendable, Subsystem
public class Arm extends SubsystemBase

  • Constructor Details

    • Arm

      public Arm()
      Creates a new Arm.

  • Method Details

    • setArmTarget

      public void setArmTarget(double targetDegrees)
      safely set the target angle for the arm
      Parameters:
      targetDegrees - the target angle for the arm in degrees

    • setArmTargetByDistanceExtended

      public void setArmTargetByDistanceExtended(double distance)
      sets the arm target based on the distance to the speaker and the interpolation table
      Parameters:
      distance - the distance to the speaker in meters

    • setArmTargetByDistanceRetracted

      public void setArmTargetByDistanceRetracted(double distance)

    • RaiseElevator

      public Command RaiseElevator()

    • lowerElevator

      public Command lowerElevator()

    • Stow

      public Command Stow()
      stows the arm and elevator
      Returns:
      a command to stow the arm and elevator

    • setArmVelocity

      public void setArmVelocity(double velocityDegreesPerSec)
      sets the velocity for the arm by moving a position setpoint
      Parameters:
      velocityDegreesPerSec - the velocity for the arm in degrees per second

    • setElevatorTarget

      public void setElevatorTarget(double target)
      safely set the target height for the elevator
      Parameters:
      target - the target height for the elevator in inches

    • SetTargets

      public Command SetTargets(Constants.ShootingConstants.ShootingPosition position)

    • SetTargets

      public Command SetTargets(Supplier<Double> distance)

    • SetTargetsAuto

      public Command SetTargetsAuto(Supplier<Double> distance)

    • setElevatorVelocity

      public void setElevatorVelocity(double velocityDegreesPerSec)
      sets the velocity for the elevator by moving a position setpoint
      Parameters:
      velocityDegreesPerSec - the velocity for the elevator in degrees per second

    • ArmDefaultCommand

      public Command ArmDefaultCommand(Supplier<Double> armVelocity, Supplier<Double> elevatorVelocity)

    • ToggleBrakeModes

      public Command ToggleBrakeModes()

    • EnableBrakeMode

      public Command EnableBrakeMode()

    • periodic

      public void periodic()

    • getArmAbsoluteEncoderPosition

      public double getArmAbsoluteEncoderPosition()

    • getElevatorAbsoluteEncoderPosition

      public double getElevatorAbsoluteEncoderPosition()

    • getMotorTab

      public MotorTab getMotorTab()

    • areArmAndElevatorAtTarget

      public boolean areArmAndElevatorAtTarget()