Package frc.robot

Class RobotContainer

java.lang.Object

frc.robot.RobotContainer

public class RobotContainer
extends Object

This class is where the bulk of the robot should be declared. Since Command-based is a "declarative" paradigm, very little robot logic should actually be handled in the Robot periodic methods (other than the scheduler calls). Instead, the structure of the robot (including subsystems, commands, and trigger mappings) should be declared here.

Field Summary

Fields

Modifier and Type	Field	Description
final SwerveRequest.FieldCentricFacingAngle	drive
final CommandSwerveDrivetrain	drivetrain
final DrivetrainControls	drivetrainControls
final SwerveRequest.FieldCentric	spin
final DigitalInput	uptakeBeamBreak	The beam break on the uptake.
final DIOSim	uptakeBeamBreakSim

Constructor Summary

Constructors

Constructor	Description
RobotContainer()	The container for the robot.

Method Summary

Modifier and Type	Method	Description
void	autoInit()	This method is run at the start of Auto.
Command	getAutonomousCommand()	Use this to pass the autonomous command to the main Robot class.
boolean	getIsBallInUptake()	Gets the current value of the uptake beam break.
void	setAutoChooser(SendableChooser<Command> auto)
void	simulationInit()	This function is called once when the robot is first started up whilst in simulation.
void	simulationPeriodic()	This function is called periodically whilst in simulation.
void	superstructurePeriodic()	This method handles the periodic functionality for the superstructure.
void	teleopInit()	This method is run at the start of Teleop.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

drive

public final SwerveRequest.FieldCentricFacingAngle drive

spin

public final SwerveRequest.FieldCentric spin

uptakeBeamBreak

public final DigitalInput uptakeBeamBreak

The beam break on the uptake.

Reads true if there is a ball going through uptake, false otherwise.

uptakeBeamBreakSim

public final DIOSim uptakeBeamBreakSim

drivetrain

public final CommandSwerveDrivetrain drivetrain

drivetrainControls

public final DrivetrainControls drivetrainControls

Constructor Details

RobotContainer

public RobotContainer()

The container for the robot. Contains subsystems, OI devices, and commands.

Method Details

autoInit

public void autoInit()

This method is run at the start of Auto.

teleopInit

public void teleopInit()

This method is run at the start of Teleop.

simulationInit

public void simulationInit()

This function is called once when the robot is first started up whilst in simulation.

simulationPeriodic

public void simulationPeriodic()

This function is called periodically whilst in simulation.

superstructurePeriodic

public void superstructurePeriodic()

This method handles the periodic functionality for the superstructure. This is done seperate from the subsystem periodic so it can be updated more frequently.

getAutonomousCommand

public Command getAutonomousCommand()

Use this to pass the autonomous command to the main Robot class.

Returns:

the command to run in autonomous

setAutoChooser

public void setAutoChooser(SendableChooser<Command> auto)

getIsBallInUptake

public boolean getIsBallInUptake()

Gets the current value of the uptake beam break.

Returns:

True if there is a ball in uptake, false otherwise.