Package frc.robot.Subsystems.Elevator

Class ElevatorSimIO

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.Subsystems.Elevator.Elevator

frc.robot.Subsystems.Elevator.ElevatorSimIO

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class ElevatorSimIO
extends Elevator

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.Subsystems.Elevator.Elevator

Elevator.TargetState

Field Summary

Fields inherited from class frc.robot.Subsystems.Elevator.Elevator

instance, m_current_state

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	ElevatorSimIO()

Method Summary

Modifier and Type	Method	Description
boolean	atSetpoint()
boolean	getCoralStored()
double	getElevatorHeight()
boolean	getElevatorZeroed()
edu.wpi.first.math.geometry.Rotation2d	getWristAngle()
edu.wpi.first.wpilibj2.command.Command	intakeAlgaeCmd()
edu.wpi.first.wpilibj2.command.Command	intakeCoralCmd()
edu.wpi.first.wpilibj2.command.Command	intakeCoralSequence()
void	periodic()
protected void	runEleMotionMagic(double setpoint)
double	runElevator(double speed)
void	runIntake(double speed)
void	runShooter(double speed)
double	runWrist(double speed)
protected void	runWristMotionMagic(double setpoint)
void	stopElevator()
void	stopWrist()
void	zeroWrist()

Methods inherited from class frc.robot.Subsystems.Elevator.Elevator

atTarget, atTarget, setElevatorSetpoint, setState, setStateCmd, setWristSetpoint

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, simulationPeriodic, startEnd, startRun

Constructor Details

ElevatorSimIO

protected ElevatorSimIO()

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

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

intakeCoralCmd

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

Specified by:

intakeCoralCmd in class Elevator

intakeAlgaeCmd

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

Specified by:

intakeAlgaeCmd in class Elevator

intakeCoralSequence

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

Specified by:

intakeCoralSequence in class Elevator

zeroWrist

public void zeroWrist()

Specified by:

zeroWrist in class Elevator

getCoralStored

public boolean getCoralStored()

Specified by:

getCoralStored in class Elevator

getElevatorZeroed

public boolean getElevatorZeroed()

Specified by:

getElevatorZeroed in class Elevator

atSetpoint

public boolean atSetpoint()

Specified by:

atSetpoint in class Elevator

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

periodic in class Elevator