Package frc.robot.subsystems.EndEffector

Class EndEffector

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.EndEffector.EndEffector

All Implemented Interfaces:

Sendable, Subsystem

public class EndEffector
extends SubsystemBase

Subsystem for the robot's End Effector functionality

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
Command	AlgaeIntake()
Command	AlgaeOuttake()
Command	CoralBackup()
Command	CoralIntakeFinish()
Command	CoralIntakeStart()
Command	CoralIntakeTeleop()
Command	CoralOuttake()
Command	CoralOuttakeTeleop()
boolean	isHoldingAlgae()
boolean	isHoldingCoral()
Command	manualCoralBackup()
Command	manualCoralIntake()
Command	manualCoralOuttake()
void	periodic()
Command	RunMotorContinuosCommand(Supplier<Double> speed)	run the motor at the specified speed, will not finish.
Command	StartMotorCommand(Supplier<Double> speed)	Starts the intake motor.
Command	StopIntakeMotor()	Stops the intake 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

EndEffector

public EndEffector(RobotContainer robotContainer)

Creates a new EndEffector.

Method Details

periodic

public void periodic()

isHoldingAlgae

public boolean isHoldingAlgae()

isHoldingCoral

public boolean isHoldingCoral()

StartMotorCommand

public Command StartMotorCommand(Supplier<Double> speed)

Starts the intake motor.

Parameters:

speed - Speed to set [-1,1].

Returns:

Command to run.

RunMotorContinuosCommand

public Command RunMotorContinuosCommand(Supplier<Double> speed)

run the motor at the specified speed, will not finish.

Parameters:

speed -

Returns:

StopIntakeMotor

public Command StopIntakeMotor()

Stops the intake motor.

Returns:

Command to run.

CoralIntakeTeleop

public Command CoralIntakeTeleop()

CoralIntakeStart

public Command CoralIntakeStart()

CoralIntakeFinish

public Command CoralIntakeFinish()

CoralOuttake

public Command CoralOuttake()

CoralOuttakeTeleop

public Command CoralOuttakeTeleop()

CoralBackup

public Command CoralBackup()

AlgaeIntake

public Command AlgaeIntake()

AlgaeOuttake

public Command AlgaeOuttake()

manualCoralIntake

public Command manualCoralIntake()

manualCoralOuttake

public Command manualCoralOuttake()

manualCoralBackup

public Command manualCoralBackup()