Package frc.robot.subsystems.climber

Class Climber

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.climber.Climber

All Implemented Interfaces:

Sendable, Subsystem

public class Climber
extends SubsystemBase

Climber Subsystem

Field Summary

Fields

Modifier and Type	Field	Description
Trigger	reachedClimberStart

Constructor Summary

Constructors

Constructor	Description
Climber(ClimberIO io, Viz2025 viz)

Method Summary

Modifier and Type	Method	Description
Angle	getClimberPosition()
Command	manualClimb(DoubleSupplier volts)
BooleanSupplier	passedClimbAngle()
BooleanSupplier	passedMaxAngle()
void	periodic()
Boolean	reachedClimberStart()
Command	resetClimberCommand()
Command	resetEncoder()
Command	runClimberMotorCommand(double voltage, BooleanSupplier angle)
Command	runClimberMotorCommand(BooleanSupplier angle)
void	setClimberMotorVoltage(double 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

Field Details

reachedClimberStart

public Trigger reachedClimberStart

Constructor Details

Climber

public Climber(ClimberIO io,
 Viz2025 viz)

Method Details

periodic

public void periodic()

setClimberMotorVoltage

public void setClimberMotorVoltage(double voltage)

runClimberMotorCommand

public Command runClimberMotorCommand(double voltage,
 BooleanSupplier angle)

Returns:

Set Motor Voltage until reached certain angle

runClimberMotorCommand

public Command runClimberMotorCommand(BooleanSupplier angle)

Returns:

Set Motor Voltage until reached certain angle

manualClimb

public Command manualClimb(DoubleSupplier volts)

Returns:

Set Motor Voltage until reached certain angle

passedMaxAngle

public BooleanSupplier passedMaxAngle()

Returns:

Climber Position

passedClimbAngle

public BooleanSupplier passedClimbAngle()

Returns:

Climber Position

reachedClimberStart

public Boolean reachedClimberStart()

Returns:

Climber Position

resetClimberCommand

public Command resetClimberCommand()

Returns:

Bring Climb Subsystem down until button is pressed.

resetEncoder

public Command resetEncoder()

getClimberPosition

public Angle getClimberPosition()