Package frc.robot.subsystems.mechanisms.arm

Class Pivot

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.mechanisms.arm.Pivot

All Implemented Interfaces:

Sendable, Subsystem

public class Pivot
extends SubsystemBase

Subsystem used to control the elevator pivot.

Constructor Summary

Constructors

Constructor	Description
Pivot()	Creates a new Pivot.

Method Summary

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

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

Pivot

public Pivot()

Creates a new Pivot.

Method Details

periodic

public void periodic()

This method is responsible for they safety of the pivot.

This uses the target to determine the target position of the pivot.

init

public void init()

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

setTarget

public void setTarget(Angle position)

A method to move the pivot to a position.

Parameters:

position - The position as a angle.

setTarget

public void setTarget(double position)

A function to move the pivot to a position in degrees.

Parameters:

position - The position in degrees.

getTarget

public double getTarget()

Gets the current target.

Returns:

The pivot target in meters.

getPosition

public double getPosition()

Gets the current position of the pivot.

Returns:

The pivot position in degrees.

isAtTarget

public boolean isAtTarget()

Check if the pivot 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 pivotSpeed)

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

Parameters:

pivotSpeed - The speed of the pivot 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 pivot motor.

Returns:

Command to run.

enableBrakeModeCommand

public Command enableBrakeModeCommand()

Enables brake mode on the pivot motor. Called on enable to ensure the pivot is in brake mode for the match.

Returns:

Command to run.