Package frc.robot.subsystems

Class Climber

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.Climber

All Implemented Interfaces:

Sendable, Subsystem

public class Climber
extends SubsystemBase

Constructor Summary

Constructors

Constructor	Description
Climber()	Creates a new Climber.

Method Summary

Modifier and Type	Method	Description
double	getPositionLeftMotor()	Get the position of the left climb motor.
double	getPositionRightMotor()	Get the position of the right climb motor.
double	getSpeedLeft()	Get the velocity of the left climb motor.
double	getSpeedRampPivot()	Get the velocity of the ramp pivot motor.
double	getSpeedRight()	Get the velocity of the right climb motor.
void	periodic()
void	setSpeed(double leftSpeed, double rightSpeed)	sets the speeds of the climb motors
void	setSpeedLeft(double leftSpeed)	Set the velocity of the left climb motor.
void	setSpeedRampPivot(double rampPivotSpeed)	Set the velocity of the ramp pivot motor.
void	setSpeedRight(double rightSpeed)	Set the velocity of the right climb 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

Climber

public Climber()

Creates a new Climber.

Method Details

setSpeed

public void setSpeed(double leftSpeed,
 double rightSpeed)

sets the speeds of the climb motors

Parameters:

leftSpeed - The speed to set. Value should be between -1.0 and 1.0.

rightSpeed - The speed to set. Value should be between -1.0 and 1.0.

getSpeedRight

public double getSpeedRight()

Get the velocity of the right climb motor.

Returns:

Number the RPM of the motor

getSpeedLeft

public double getSpeedLeft()

Get the velocity of the left climb motor.

Returns:

Number the RPM of the motor

getSpeedRampPivot

public double getSpeedRampPivot()

Get the velocity of the ramp pivot motor.

Returns:

Number the RPM of the motor

setSpeedLeft

public void setSpeedLeft(double leftSpeed)

Set the velocity of the left climb motor.

Parameters:

leftSpeed - The speed to set. Value should be between -1.0 and 1.0.

setSpeedRight

public void setSpeedRight(double rightSpeed)

Set the velocity of the right climb motor.

Parameters:

rightSpeed - The speed to set. Value should be between -1.0 and 1.0.

setSpeedRampPivot

public void setSpeedRampPivot(double rampPivotSpeed)

Set the velocity of the ramp pivot motor.

Parameters:

rampPivotSpeed - The speed to set. Value should be between -1.0 and 1.0.

getPositionRightMotor

public double getPositionRightMotor()

Get the position of the right climb motor. This returns the native units of 'rotations' by default

Returns:

Number of rotations of the motor

getPositionLeftMotor

public double getPositionLeftMotor()

Get the position of the left climb motor. This returns the native units of 'rotations'

Returns:

Number of rotations of the motor

periodic

public void periodic()