Package frc.robot.subsystems.Shooter

Class Shooter

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.Shooter.Shooter
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
Direct Known Subclasses:
ShooterRealIO
public abstract class Shooter extends edu.wpi.first.wpilibj2.command.SubsystemBase

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    protected edu.wpi.first.math.controller.PIDController
    pitch_pid
     

  • Constructor Summary

    Constructors
    Constructor
    Description
    Shooter()
     

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getPitchSetpoint()
    Gets the setpoint of the pitch PID controller.
    void
    periodic()
     
    void
    setPitchSetpoint(double setpoint)
    Sets the setpoint of the pitch PID controller.
    void
    setSpeed(double rpm)
    Sets the speed of both flywheel motors.
    void
    simulationPeriodic()
     

    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, startEnd

  • Field Details

    • pitch_pid

      protected edu.wpi.first.math.controller.PIDController pitch_pid

  • Constructor Details

    • Shooter

      public Shooter()

  • Method Details

    • getPitchSetpoint

      public double getPitchSetpoint()
      Gets the setpoint of the pitch PID controller.
      Returns:
      The setpoint of the pitch PID controller.

    • setPitchSetpoint

      public void setPitchSetpoint(double setpoint)
      Sets the setpoint of the pitch PID controller.
      Parameters:
      setpoint - The desired setpoint

    • setSpeed

      public void setSpeed(double rpm)
      Sets the speed of both flywheel motors.
      Parameters:
      rpm - The desired speed in rpm.

    • periodic

      public void periodic()

    • simulationPeriodic

      public void simulationPeriodic()