Package frc.robot.subsystems.algaewrist

Class AlgaeWrist

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.algaewrist.AlgaeWrist

All Implemented Interfaces:

Sendable, Subsystem

public class AlgaeWrist
extends SubsystemBase

Algae Wrist

Constructor Summary

Constructors

Constructor	Description
AlgaeWrist(Viz2025 viz, AlgaeWristIO io)	Algae Wrist

Method Summary

Modifier and Type	Method	Description
Command	bargeAngle()	Angle for barge
Command	coast()	Make wrist backdrivable
Command	followAngle(Supplier<Angle> angle)	Continuously set the angle of the algae intake
Command	goToAngle(Supplier<Angle> angle)	Get within 5 degrees of a desired angle
Command	groundAngle()	Angle for ground intake
Command	homeAngle()	Angle for home
void	periodic()
Command	reefAngle()	Angle for picking off of reef
Command	runVolts(DoubleSupplier volts)	set wrist voltage

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

AlgaeWrist

public AlgaeWrist(Viz2025 viz,
 AlgaeWristIO io)

Algae Wrist

Method Details

periodic

public void periodic()

runVolts

public Command runVolts(DoubleSupplier volts)

set wrist voltage

goToAngle

public Command goToAngle(Supplier<Angle> angle)

Get within 5 degrees of a desired angle

followAngle

public Command followAngle(Supplier<Angle> angle)

Continuously set the angle of the algae intake

bargeAngle

public Command bargeAngle()

Angle for barge

homeAngle

public Command homeAngle()

Angle for home

groundAngle

public Command groundAngle()

Angle for ground intake

reefAngle

public Command reefAngle()

Angle for picking off of reef

coast

public Command coast()

Make wrist backdrivable