Package frc.robot.subsystems.mechanisms.arm

Class Arm

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.mechanisms.arm.Arm

All Implemented Interfaces:

Sendable, Subsystem

public class Arm
extends SubsystemBase

A superstructure to control both the Elevator and Pivot. Includes some important safety stuff so this shouldn't be skipped.

Constructor Summary

Constructors

Constructor	Description
Arm()	Creates a new Arm subsystem using a new Elevator and Pivot.
Arm(Elevator elevator, Pivot pivot)	Creates a new Arm subsystem using the provided Elevator and Pivot.

Method Summary

Modifier and Type	Method	Description
void	init()	Initializes the elevator and pivot.
boolean	isAtTarget()	Checks if the elevator and pivot are at their target positions.
void	periodic()	This method is responsible for ensuring safe interactions between the head and the chassis of the robot.
Command	setPositionCommand(ArmPosition position)	A command to set the elevator and wrist to a position.
Command	toggleBrakeModesCommand()

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

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, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

Arm

public Arm()

Creates a new Arm subsystem using a new Elevator and Pivot.

Arm

public Arm(Elevator elevator,
 Pivot pivot)

Creates a new Arm subsystem using the provided Elevator and Pivot.

Parameters:

elevator - The Elevator to use.

pivot - The Pivot to use.

Method Details

periodic

public void periodic()

This method is responsible for ensuring safe interactions between the head and the chassis of the robot.

This method will check the setpoint of the wrist, and, in the case that it is too low for the current elevator position, it will set the target to the lowest safe position.

init

public void init()

Initializes the elevator and pivot. Should be called pre-enable.

setPositionCommand

public Command setPositionCommand(ArmPosition position)

A command to set the elevator and wrist to a position.

Parameters:

position - The Constants.ArmPosition to set the elevator and wrist to.

Returns:

Command to run.

isAtTarget

public boolean isAtTarget()

Checks if the elevator and pivot are at their target positions.

Returns:

True if both the elevator and pivot are at their target positions, false otherwise.

toggleBrakeModesCommand

public Command toggleBrakeModesCommand()