Package frc.robot.superstructure

Enum Class ShooterSuperstructure.ShooterState

java.lang.Object

java.lang.Enum<ShooterSuperstructure.ShooterState>

frc.robot.superstructure.ShooterSuperstructure.ShooterState

All Implemented Interfaces:

Serializable, Comparable<ShooterSuperstructure.ShooterState>, Constable

Enclosing class:

ShooterSuperstructure

public static enum ShooterSuperstructure.ShooterState
extends Enum<ShooterSuperstructure.ShooterState>

The list of states the shooter can be in.

Nested Class Summary

Nested classes/interfaces inherited from class java.lang.Enum

Enum.EnumDesc<E extends Enum<E>>

Enum Constant Summary

Enum Constants

Enum Constant	Description
HOME	Homed and waiting for a target.
MANUAL_CONTROL	Currently under manual control.
OFF	Stopped.
SHOOTING	The shooter has a target and is in some stage of shooting.
SHOOTING_PAUSED	We were shooting, but for whatever reason we had to stop to wait on a mechanism to ready (maybe the turret reached a limit and had to wrap around).
SHOOTING_RUNNING	Currently tracking and shooting at a target.
SHOOTING_STAGE_1_INITIALIZING	Has target, waiting for things to ready.
SHOOTING_STAGE_2_READY_TO_SHOOT	Initialized and ready to shoot.
SHOOTING_STAGE_3_SHOOTING	Various stages related to active shooting (at this point, control is completely automatic).
SHOOTING_WAITING	Waiting for the hood and uptake to ready, since we only spin those while actively shooting.

Method Summary

Modifier and Type	Method	Description
static ShooterSuperstructure.ShooterState	valueOf(String name)	Returns the enum constant of this class with the specified name.
static ShooterSuperstructure.ShooterState[]	values()	Returns an array containing the constants of this enum class, in the order they are declared.

Methods inherited from class java.lang.Enum

clone, compareTo, describeConstable, equals, finalize, getDeclaringClass, hashCode, name, ordinal, toString, valueOf

Methods inherited from class java.lang.Object

getClass, notify, notifyAll, wait, wait, wait

Enum Constant Details

OFF

public static final ShooterSuperstructure.ShooterState OFF

Stopped. This won't automatically transition into any other states.

HOME

public static final ShooterSuperstructure.ShooterState HOME

Homed and waiting for a target.

If a target is given by the current source, this will automatically transition to SHOOTING.

MANUAL_CONTROL

public static final ShooterSuperstructure.ShooterState MANUAL_CONTROL

Currently under manual control.

SHOOTING

public static final ShooterSuperstructure.ShooterState SHOOTING

The shooter has a target and is in some stage of shooting. We never transition directly to this state, only substates of it.

SHOOTING_STAGE_1_INITIALIZING

public static final ShooterSuperstructure.ShooterState SHOOTING_STAGE_1_INITIALIZING

Has target, waiting for things to ready. Substate of SHOOTING.

Once the subsystems are all ready, this will automatically transition to SHOOTING_STAGE_2_READY_TO_SHOOT.

SHOOTING_STAGE_2_READY_TO_SHOOT

public static final ShooterSuperstructure.ShooterState SHOOTING_STAGE_2_READY_TO_SHOOT

Initialized and ready to shoot. Waiting for ShooterSuperstructure.ShooterTrigger.START_SHOOTING.

SHOOTING_STAGE_3_SHOOTING

public static final ShooterSuperstructure.ShooterState SHOOTING_STAGE_3_SHOOTING

Various stages related to active shooting (at this point, control is completely automatic).

Once the hopper is out of balls (defined as when the hopper beam break hasn't detected a ball for Constants.ShootingConstants.SHOOTING_TIMEOUT), this will automatically transition back to HOME state.

SHOOTING_WAITING

public static final ShooterSuperstructure.ShooterState SHOOTING_WAITING

Waiting for the hood and uptake to ready, since we only spin those while actively shooting. This is a substate of SHOOTING_STAGE_3_SHOOTING.

SHOOTING_RUNNING

public static final ShooterSuperstructure.ShooterState SHOOTING_RUNNING

Currently tracking and shooting at a target. Spindexer is spindexing.

SHOOTING_PAUSED

public static final ShooterSuperstructure.ShooterState SHOOTING_PAUSED

We were shooting, but for whatever reason we had to stop to wait on a mechanism to ready (maybe the turret reached a limit and had to wrap around).

Once we're ready again, we'll immediately transition back to SHOOTING_RUNNING.

Method Details

values

public static ShooterSuperstructure.ShooterState[] values()

Returns an array containing the constants of this enum class, in the order they are declared.

Returns:

an array containing the constants of this enum class, in the order they are declared

valueOf

public static ShooterSuperstructure.ShooterState valueOf(String name)

Returns the enum constant of this class with the specified name. The string must match exactly an identifier used to declare an enum constant in this class. (Extraneous whitespace characters are not permitted.)

Parameters:

name - the name of the enum constant to be returned.

Returns:

the enum constant with the specified name

Throws:

IllegalArgumentException - if this enum class has no constant with the specified name

NullPointerException - if the argument is null