Package frc.robot.subsystems.shooter

Class Turret

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.shooter.Turret

All Implemented Interfaces:

Sendable, Subsystem

public class Turret
extends SubsystemBase

The turret that the shooter is attached to.

API Note:

All set position methods in this class are robot-relative, since we don't want to interact with Drivetrain if we don't have to.

Constructor Summary

Constructors

Constructor	Description
Turret()	Creates a new Turret.

Method Summary

Modifier and Type	Method	Description
Angle	getPosition()	Gets the current position of the turret, wrapped to stay within [0-1].
Angle	getPositionDirect()	Gets the current position of the turret with no wrapping.
boolean	isAtTarget()	Checks if the turret is at its setpoint.
static boolean	isInArrayBinarySearch(double[] values, double target, double tolerance)	generic binary search, needed for findRotationsFromEncoders, replace if there is one in a library i don't know about
void	periodic()
void	setPosition(Angle position)	Commands the turret motor closed loop controller to a certain position, wrapping if applicable.
Command	setPositionCommand(Supplier<Angle> position)	Command to set the turret to a certain position with MotionMagic.
void	simulationPeriodic()
void	unspool()	Rotates back to an equivalent position +/- 0.5 rotations from center.
Command	unspoolCommand()	Command to unspool the turret.

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

Turret

public Turret()

Creates a new Turret.

Method Details

periodic

public void periodic()

simulationPeriodic

public void simulationPeriodic()

setPositionCommand

public Command setPositionCommand(Supplier<Angle> position)

Command to set the turret to a certain position with MotionMagic.

Parameters:

position - Angle to turn to.

Returns:

Command to run.

isInArrayBinarySearch

public static boolean isInArrayBinarySearch(double[] values,
 double target,
 double tolerance)

generic binary search, needed for findRotationsFromEncoders, replace if there is one in a library i don't know about

Parameters:

values - the list of values to search

target - the target value

tolerance - the tolerance of whether a value is the same

Returns:

unspoolCommand

public Command unspoolCommand()

Command to unspool the turret. This rotates back to an equivalent position +/- 0.5 rotations from center.

This allows you to "unspool" the mechanism, untwisting the wires.

Returns:

Command to run.

setPosition

public void setPosition(Angle position)

Commands the turret motor closed loop controller to a certain position, wrapping if applicable.

Parameters:

position - Angle to turn to. Wrapped to be within [0-1] rotations (and the shortest path to the target is then taken).

getPositionDirect

public Angle getPositionDirect()

Gets the current position of the turret with no wrapping.

Returns:

The current position of the turret, with no wrapping and scaled to match gear ratios.

getPosition

public Angle getPosition()

Gets the current position of the turret, wrapped to stay within [0-1].

Returns:

The current position of the turret, wrapped and scaled to match gear ratios.

isAtTarget

public boolean isAtTarget()

Checks if the turret is at its setpoint.

Returns:

Is the turret at its setpoint?

unspool

public void unspool()

Rotates back to an equivalent position +/- 0.5 rotations from center.

This allows you to "unspool" the mechanism, untwisting the wires.