HopperUptake (2026Robot API)

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.HopperUptake

All Implemented Interfaces:: Sendable, Subsystem

public class HopperUptake extends SubsystemBase

This class covers the Hopper/Spindexer motor and the Uptake motor

Constructor Summary

Constructors

Constructor

Description

HopperUptake()
Method Summary

Modifier and Type

Method

Description

boolean

getIsHopperRunningForwards()

Returns true if the hopper is running forwards, false otherwise.

boolean

isUptakeAtTarget()

void

periodic()

void

simulationPeriodic()

void

startAllMotors()

Command

startBothCommand()

void

startHopperForward()

void

startHopperUnjam()

void

startMotorsUnjam()

Command

startUnJamCommand()

void

startUptakeForward()

Command

startUptakeForwardCommand()

void

startUptakeUnjam()

Command

startUptakeUnjamCommand()

void

stopBothMotors()

Command

stopBothMotorsCommand()

void

stopHopper()

void

stopUptake()

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, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd, startRun

Constructor Details
- HopperUptake
  
  public HopperUptake()
Method Details
- simulationPeriodic
  
  public void simulationPeriodic()
- isUptakeAtTarget
  
  public boolean isUptakeAtTarget()
- startHopperForward
  
  public void startHopperForward()
- startUptakeForward
  
  public void startUptakeForward()
- startHopperUnjam
  
  public void startHopperUnjam()
- startUptakeUnjam
  
  public void startUptakeUnjam()
- stopHopper
  
  public void stopHopper()
- stopUptake
  
  public void stopUptake()
- startAllMotors
  
  public void startAllMotors()
- startMotorsUnjam
  
  public void startMotorsUnjam()
- stopBothMotors
  
  public void stopBothMotors()
- startUptakeForwardCommand
  
  public Command startUptakeForwardCommand()
- startBothCommand
  
  public Command startBothCommand()
- startUnJamCommand
  
  public Command startUnJamCommand()
- startUptakeUnjamCommand
  
  public Command startUptakeUnjamCommand()
- stopBothMotorsCommand
  
  public Command stopBothMotorsCommand()
- getIsHopperRunningForwards
  
  public boolean getIsHopperRunningForwards()
  
  Returns true if the hopper is running forwards, false otherwise. This mostly exists for sim.
- periodic
  
  public void periodic()