Package frc.robot.subsystems

Class Elevator

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.Elevator

All Implemented Interfaces:

Sendable, Subsystem

public class Elevator
extends SubsystemBase

Constructor Summary

Constructors

Constructor	Description
Elevator(RobotContainer robotContainer)	Creates a new Elevator.

Method Summary

Modifier and Type	Method	Description
Command	doNothing()	A command that does nothing.
void	elevatorInit()
double	getElevatorTarget()
void	periodic()	This method is responsible for they safety of the elevator and wrist.
Command	SetPositionCommand(Constants.ArmPosition position)	A command to set the elevator and wrist to a position.
Command	setSpeedsCommand(DoubleSupplier elevatorSpeed, DoubleSupplier wristSpeed)	A command to set the speeds of the elevator and wrist.

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(RobotContainer robotContainer)

Creates a new Elevator.

Method Details

periodic

public void periodic()

This method is responsible for they safety of the elevator and wrist.

This uses the elevatorTarget and wristTarget to determine the target position of the elevator and wrist. If the elevator and wrist are both below their SAFE_MIN_POSITION they will collide. Whenever either one is below their SAFE_MIN_POSITION the other will be limited to the SAFE_MIN_POSITION.

setSpeedsCommand

public Command setSpeedsCommand(DoubleSupplier elevatorSpeed,
 DoubleSupplier wristSpeed)

A command to set the speeds of the elevator and wrist.

Parameters:

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

wristSpeed - The speed of the wrist as a percentage of max speed. [-1, 1]

Returns:

Command to run.

SetPositionCommand

public Command SetPositionCommand(Constants.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.

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.

getElevatorTarget

public double getElevatorTarget()

elevatorInit

public void elevatorInit()