Package frc.robot.subsystems.mechanisms.arm

Class Elevator

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.mechanisms.arm.Elevator

All Implemented Interfaces:

Sendable, Subsystem

public class Elevator
extends SubsystemBase

Subsystem to control the elevator.

Elevator safety features are in the periodic() method.

Constructor Summary

Constructors

Constructor	Description
Elevator()	Creates a new Elevator.

Method Summary

Modifier and Type	Method	Description
Command	doNothing()	A command that does nothing.
Command	enableBrakeModeCommand()	Enables brake mode on the elevator motors.
double	getPosition()	Gets the current position of the elevator.
double	getTarget()	Gets the current target.
void	init()	Sets up the elevator.
boolean	isAtTarget()	Check if the elevator is within the tolerance to it's target position.
void	periodic()	This method is responsible for they safety of the elevator.
Command	setSpeedCommand(DoubleSupplier elevatorSpeed)	A command to set the speed of the elevator.
void	setTarget(double position)	A method to move the elevator to a position in meters.
void	setTarget(Distance position)	A method to move the elevator to a position.
Command	toggleBrakeModeCommand()	Toggles brake mode on the elevator motors.

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

Elevator

public Elevator()

Creates a new Elevator.

Method Details

periodic

public void periodic()

This method is responsible for they safety of the elevator.

This uses the target to determine the target position of the elevator, and constrain said target to the safe bounds.

init

public void init()

Sets up the elevator. Should be called pre-enable.

setTarget

public void setTarget(Distance position)

A method to move the elevator to a position.

Parameters:

position - The position as a distance.

setTarget

public void setTarget(double position)

A method to move the elevator to a position in meters.

Parameters:

position - The position in meters.

getTarget

public double getTarget()

Gets the current target.

Returns:

The elevator target in meters.

getPosition

public double getPosition()

Gets the current position of the elevator.

Returns:

The elevator position in meters.

isAtTarget

public boolean isAtTarget()

Check if the elevator is within the tolerance to it's target position. This is used to determine if the Arm.setPositionCommand(ArmPosition) command is finished.

setSpeedCommand

public Command setSpeedCommand(DoubleSupplier elevatorSpeed)

A command to set the speed of the elevator. Used for relative control.

Parameters:

elevatorSpeed - The speed of the elevator as a percentage of max speed. [-1, 1]

Returns:

Command to run.

doNothing

public Command doNothing()

A command that does nothing. This command requires the elevator subsystem so it will kill any other command. This is used to let the drivers regain controll of the elevator if it is unable to reach its target.

Returns:

Command to run.

toggleBrakeModeCommand

public Command toggleBrakeModeCommand()

Toggles brake mode on the elevator motors.

Returns:

Command to run.

enableBrakeModeCommand

public Command enableBrakeModeCommand()

Enables brake mode on the elevator motors. Called on enable to ensure the elevator is in brake mode for the match.

Returns:

Command to run.