Package frc.robot.Subsystems.Elevator

Class ElevatorRealIO

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

  • Field Details

    • ele_motor

      protected com.ctre.phoenix6.hardware.TalonFX ele_motor

    • wrist_motor

      protected com.ctre.phoenix6.hardware.TalonFX wrist_motor

  • Constructor Details

    • ElevatorRealIO

      protected ElevatorRealIO()

  • Method Details

    • runElevator

      public double runElevator(double speed)
      Specified by:
      runElevator in class Elevator

    • runWrist

      public double runWrist(double speed)
      Specified by:
      runWrist in class Elevator

    • runEleMotionMagic

      protected void runEleMotionMagic(double setpoint)
      Specified by:
      runEleMotionMagic in class Elevator

    • stopElevator

      public void stopElevator()
      Specified by:
      stopElevator in class Elevator

    • runWristMotionMagic

      protected void runWristMotionMagic(double setpoint)
      Specified by:
      runWristMotionMagic in class Elevator

    • stopWrist

      public void stopWrist()
      Specified by:
      stopWrist in class Elevator

    • changeWristSetpoint

      public void changeWristSetpoint(double rate)

    • runIntake

      public void runIntake(double speed)
      Specified by:
      runIntake in class Elevator

    • runShooter

      public void runShooter(double speed)
      Specified by:
      runShooter in class Elevator

    • getElevatorHeight

      public double getElevatorHeight()
      Specified by:
      getElevatorHeight in class Elevator

    • getWristAngle

      public edu.wpi.first.math.geometry.Rotation2d getWristAngle()
      Specified by:
      getWristAngle in class Elevator

    • zeroWrist

      public void zeroWrist()
      Specified by:
      zeroWrist in class Elevator

    • atSetpoint

      public boolean atSetpoint()
      Specified by:
      atSetpoint in class Elevator

    • intakeCoralCmd

      public edu.wpi.first.wpilibj2.command.Command intakeCoralCmd()
      Specified by:
      intakeCoralCmd in class Elevator

    • intakeCoralSequence

      public edu.wpi.first.wpilibj2.command.Command intakeCoralSequence()
      Specified by:
      intakeCoralSequence in class Elevator

    • intakeAlgaeCmd

      public edu.wpi.first.wpilibj2.command.Command intakeAlgaeCmd()
      Specified by:
      intakeAlgaeCmd in class Elevator

    • getTalons

      public List<com.ctre.phoenix6.hardware.TalonFX> getTalons()

    • getCoralStored

      public boolean getCoralStored()
      Specified by:
      getCoralStored in class Elevator

    • getElevatorZeroed

      public boolean getElevatorZeroed()
      Specified by:
      getElevatorZeroed in class Elevator

    • periodic

      public void periodic()
      Specified by:
      periodic in interface edu.wpi.first.wpilibj2.command.Subsystem
      Overrides:
      periodic in class Elevator