Package frc.robot.subsystems.elevator

Class Elevator

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.elevator.Elevator
All Implemented Interfaces:
Sendable, Subsystem
public class Elevator extends SubsystemBase
Elevator Subsystem

  • Field Details

    • hightAboveP0

      public Trigger hightAboveP0

    • heightAboveHome

      public Trigger heightAboveHome

  • Constructor Details

  • Method Details

    • periodic

      public void periodic()

    • getHeight

      public Distance getHeight()

    • home

      public Command home()
      moves elevator to home
      Returns:
      elevator at home

    • p0

      public Command p0()
      moves elevator to l2
      Returns:
      elevator at l2

    • p1

      public Command p1()

    • p2

      public Command p2()

    • p3

      public Command p3()

    • p4

      public Command p4()

    • p5

      public Command p5()

    • barge

      public Command barge()

    • hightAboveP0

      public boolean hightAboveP0()

    • heightAboveHome

      public boolean heightAboveHome()

    • moveTo

      public Command moveTo(Supplier<Distance> height)
      sets height of elevator
      Parameters:
      height - desired height of elevator
      Returns:
      elevator height change

    • moveToFast

      public Command moveToFast(Supplier<Distance> height)
      sets height of elevator
      Parameters:
      height - desired height of elevator
      Returns:
      elevator height change

    • follow

      public Command follow(Supplier<Distance> height)
      Continuously sets the height of the elevator

    • manualMove

      public Command manualMove(CommandXboxController leftStick)

    • moveUp

      public Command moveUp()

    • moveDown

      public Command moveDown()

    • stop

      public Command stop()
      Stop motors for safety

    • heightSelector

      public Command heightSelector()
      selects height
      Returns:
      selected height