Package frc.robot.Subsystems.Elevator

Class Elevator

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

  • Field Details

  • Constructor Details

    • Elevator

      protected Elevator()

  • Method Details

    • setState

      public void setState(Elevator.TargetState state)
      Sets the target state for the elevator and wrist.
      Parameters:
      state - The desired state.

    • setElevatorSetpoint

      public void setElevatorSetpoint(double setpoint)
      Sets the target setpoint for internal elevator PID
      Parameters:
      setpoint - The setpoint in meters. 0 is the lowest elevator height.

    • setWristSetpoint

      public void setWristSetpoint(double setpoint)
      Sets the target setpoint for internal wrist PID
      Parameters:
      setpoint - The setpoint in meters. 0 is the lowest elevator height.

    • setStateCmd

      public edu.wpi.first.wpilibj2.command.Command setStateCmd(Elevator.TargetState state)

    • atTarget

      public boolean atTarget()

    • atTarget

      public boolean atTarget(Elevator.TargetState state)

    • runElevator

      public abstract double runElevator(double speed)

    • runWrist

      public abstract double runWrist(double speed)

    • runEleMotionMagic

      protected abstract void runEleMotionMagic(double setpoint)

    • runWristMotionMagic

      protected abstract void runWristMotionMagic(double setpoint)

    • stopElevator

      public abstract void stopElevator()

    • stopWrist

      public abstract void stopWrist()

    • runIntake

      public abstract void runIntake(double speed)

    • runShooter

      public abstract void runShooter(double speed)

    • getElevatorHeight

      public abstract double getElevatorHeight()

    • getWristAngle

      public abstract edu.wpi.first.math.geometry.Rotation2d getWristAngle()

    • intakeCoralCmd

      public abstract edu.wpi.first.wpilibj2.command.Command intakeCoralCmd()

    • intakeCoralSequence

      public abstract edu.wpi.first.wpilibj2.command.Command intakeCoralSequence()

    • intakeAlgaeCmd

      public abstract edu.wpi.first.wpilibj2.command.Command intakeAlgaeCmd()

    • zeroWrist

      public abstract void zeroWrist()

    • getCoralStored

      public abstract boolean getCoralStored()

    • getElevatorZeroed

      public abstract boolean getElevatorZeroed()

    • atSetpoint

      public abstract boolean atSetpoint()

    • periodic

      public void periodic()