Package frc.robot.subsystems.coral

Class CoralScoring

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.coral.CoralScoring

All Implemented Interfaces:

Sendable, Subsystem

public class CoralScoring
extends SubsystemBase

Coral Scoring Subsystem

Field Summary

Fields

Modifier and Type	Field	Description
Trigger	coralAtIntake
Trigger	coralAtOuttake

Constructor Summary

Constructors

Constructor	Description
CoralScoring(CoralScoringIO io, Viz2025 viz)	Coral Scoring subsystem

Method Summary

Modifier and Type	Method	Description
boolean	getIntakeBeamBreakStatus()	Get intake beambreak status
boolean	getOuttakeBeamBreakStatus()	Get outtake beambreak status
void	periodic()
Command	runCoralIntake()	Runs Pre Scoring Motor
Command	runCoralOuttake()	Sets motor speed to score.
void	setCoralPower(double power)	Set motor power

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

coralAtIntake

public Trigger coralAtIntake

coralAtOuttake

public Trigger coralAtOuttake

Constructor Details

CoralScoring

public CoralScoring(CoralScoringIO io,
 Viz2025 viz)

Coral Scoring subsystem

Method Details

getOuttakeBeamBreakStatus

public boolean getOuttakeBeamBreakStatus()

Get outtake beambreak status

Returns:

Status of beambreak at outtake

getIntakeBeamBreakStatus

public boolean getIntakeBeamBreakStatus()

Get intake beambreak status

Returns:

Status of beambreak at intake

periodic

public void periodic()

setCoralPower

public void setCoralPower(double power)

Set motor power

Parameters:

power - power to apply to motor

runCoralIntake

public Command runCoralIntake()

Runs Pre Scoring Motor

Returns:

Command

runCoralOuttake

public Command runCoralOuttake()

Sets motor speed to score.

Returns:

Command