Package frc.robot.subsystems.shooter

Class Shooter

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.shooter.Shooter

All Implemented Interfaces:

Sendable, Subsystem

public class Shooter
extends SubsystemBase

Class for Shooter

Constructor Summary

Constructors

Constructor	Description
Shooter(ShooterIO io)	Shooter Subsystem

Method Summary

Modifier and Type	Method	Description
Boolean	atSetpoint()	If Both shooter motors are currently at their setpoint within the tolerance
void	periodic()
Boolean	readyToShoot()	If Both shooter motors have a consistent RPM within their Setpoint tolerance for more than 5 cycles
void	setBottomMotor(double voltage)	Set voltage to Bottom Shooter Motor**
void	setSetpoint(double setpoint)	Set the shooter RPM setpoint
void	setTopMotor(double voltage)	Set voltage to Top Shooter Motor
Command	shootSpeaker()	Command to run the shooter at a set RPM for the speaker
Command	spit()	Eject note at a lower speed (for dropping or outtaking into the amp).

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

Shooter

public Shooter(ShooterIO io)

Shooter Subsystem

Parameters:

io - Shooter IO Layer

Method Details

periodic

public void periodic()

setTopMotor

public void setTopMotor(double voltage)

Set voltage to Top Shooter Motor

Parameters:

voltage - Voltage to apply to motor

setBottomMotor

public void setBottomMotor(double voltage)

Set voltage to Bottom Shooter Motor**

Parameters:

voltage - Voltage to apply to motor

atSetpoint

public Boolean atSetpoint()

If Both shooter motors are currently at their setpoint within the tolerance

Returns:

True if at setpoint

readyToShoot

public Boolean readyToShoot()

If Both shooter motors have a consistent RPM within their Setpoint tolerance for more than 5 cycles

Returns:

True if at setpoint

setSetpoint

public void setSetpoint(double setpoint)

Set the shooter RPM setpoint

Parameters:

setpoint - Setpoint in RPM

shootSpeaker

public Command shootSpeaker()

Command to run the shooter at a set RPM for the speaker

Returns:

Returns a command

spit

public Command spit()

Eject note at a lower speed (for dropping or outtaking into the amp).