Package frc.robot

Class SubsystemManager

java.lang.Object

frc.robot.SubsystemManager

public class SubsystemManager
extends Object

The SubsystemManager coordinates all of the classes and ensures only one sequence is run at at time.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	SubsystemManager.Commands	A class separating all of the command getters.
static final record	SubsystemManager.PathplannerSpeeds	Stores a set of chassis speeds and acceleration feedforwards to accept PathPlanner output.
class	SubsystemManager.RobotState

Field Summary

Fields

Modifier and Type	Field	Description
final SubsystemManager.Commands	commands
static final SubsystemManager	instance
SubsystemManager.PathplannerSpeeds	m_pathplanner_speeds
SubsystemManager.RobotState	m_robot_state
com.ctre.phoenix6.Orchestra	orchestra
edu.wpi.first.math.estimator.SwerveDrivePoseEstimator	pose_estimator
VisionTarget	tracked_target

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.math.geometry.Pose3d[]	getComponentPoses()
edu.wpi.first.math.kinematics.ChassisSpeeds	getPidReferenceSpeeds()	Returns the current robot speeds for reference for pid control.
edu.wpi.first.math.geometry.Pose2d	getPoseEstimate()	Returns the estimated pose.
void	setupOrchestra()
void	setupOrchestra(int tracks)	Clears and refills the orchestra to play MIDI sequences.
void	update(RobotContainer.JoystickInputs stick_inputs)

Methods inherited from class java.lang.Object

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

Field Details

instance

public static final SubsystemManager instance

m_robot_state

public SubsystemManager.RobotState m_robot_state

commands

public final SubsystemManager.Commands commands

pose_estimator

public edu.wpi.first.math.estimator.SwerveDrivePoseEstimator pose_estimator

tracked_target

public VisionTarget tracked_target

orchestra

public com.ctre.phoenix6.Orchestra orchestra

m_pathplanner_speeds

public SubsystemManager.PathplannerSpeeds m_pathplanner_speeds

Method Details

getPoseEstimate

public edu.wpi.first.math.geometry.Pose2d getPoseEstimate()

Returns the estimated pose. Updates PoseEstimator with odometry readings for most accurate estimate.

Returns:

The updated pose estimate.

getComponentPoses

public edu.wpi.first.math.geometry.Pose3d[] getComponentPoses()

getPidReferenceSpeeds

public edu.wpi.first.math.kinematics.ChassisSpeeds getPidReferenceSpeeds()

Returns the current robot speeds for reference for pid control.

Returns:

The current robot-relative chassis speeds.

update

public void update(RobotContainer.JoystickInputs stick_inputs)

setupOrchestra

public void setupOrchestra()

setupOrchestra

public void setupOrchestra(int tracks)

Clears and refills the orchestra to play MIDI sequences.

Parameters:

tracks - The number of tracks the midi file contains.