Package frc.robot.subsystems

Class Arm

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.Arm

All Implemented Interfaces:

Sendable, Subsystem

public class Arm
extends SubsystemBase

Creates the subsystem for the arm.

Field Summary

Fields

Modifier and Type	Field	Description
DigitalInput	armSense
final com.revrobotics.CANSparkMax	wristMotor

Constructor Summary

Constructors

Constructor	Description
Arm(PneumaticHub ph)	Arm Subsystem

Method Summary

Modifier and Type	Method	Description
void	adjust(double amount)
boolean	armInPosition()	Get if arm angle is close to the setpoint
void	extendArm()	Set arm to extended position
double	getArmAngle()	Get angle of arm in degrees with a crossover outside of the configuration space
double	getArmAngleRad()	Get angle of arm in radians with a crossover outside of the configuration space
double	getWristAngle()	Get angle of wrist in degrees with a crossover outside of the configuration space
double	getWristAngleRad()	Get angle of wrist in radians with a crossover outside of the configuration space
void	periodic()
void	retractArm()	Set arm to retracted position
void	setArmGoal(double goal)	Set setpoint for arm angle in degrees
void	setBrakeMode()	Set motors to brake mode
void	setCoastMode()	Set motors to coast mode
void	setWristGoal(double goal)	Set setpoint for wrist angle in degrees
boolean	wristInPosition()	Get if wrist angle is close to the setpoint

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

Field Details

armSense

public DigitalInput armSense

wristMotor

public final com.revrobotics.CANSparkMax wristMotor

Constructor Details

Arm

public Arm(PneumaticHub ph)

Arm Subsystem

Method Details

adjust

public void adjust(double amount)

periodic

public void periodic()

getArmAngle

public double getArmAngle()

Get angle of arm in degrees with a crossover outside of the configuration space

getArmAngleRad

public double getArmAngleRad()

Get angle of arm in radians with a crossover outside of the configuration space

getWristAngle

public double getWristAngle()

Get angle of wrist in degrees with a crossover outside of the configuration space

getWristAngleRad

public double getWristAngleRad()

Get angle of wrist in radians with a crossover outside of the configuration space

setArmGoal

public void setArmGoal(double goal)

Set setpoint for arm angle in degrees

setWristGoal

public void setWristGoal(double goal)

Set setpoint for wrist angle in degrees

armInPosition

public boolean armInPosition()

Get if arm angle is close to the setpoint

wristInPosition

public boolean wristInPosition()

Get if wrist angle is close to the setpoint

extendArm

public void extendArm()

Set arm to extended position

retractArm

public void retractArm()

Set arm to retracted position

setCoastMode

public void setCoastMode()

Set motors to coast mode

setBrakeMode

public void setBrakeMode()

Set motors to brake mode