Package frc.robot.subsystems.elevator_algae

Class ElevatorAlgae

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.elevator_algae.ElevatorAlgae

All Implemented Interfaces:

Sendable, Subsystem

public class ElevatorAlgae
extends SubsystemBase

Elevator Algae class

Field Summary

Fields

Modifier and Type	Field	Description
Trigger	hasAlgae	Get if algae is held

Constructor Summary

Constructors

Constructor	Description
ElevatorAlgae(ElevatorAlgaeIO io, Viz2025 viz)	Constructor for Elevator Algae class

Method Summary

Modifier and Type	Method	Description
Command	algaeHoldCommand()	Hold Algae in mechanism
Command	algaeIntakeCommand()	Keeps algae intake motor running even after it has intaked an algae, but it lowers the speed
Command	algaeIntakeCommand(BooleanSupplier supplier)	Keeps algae intake motor running even after it has intaked an algae, but it lowers the speed
Command	algaeOuttakeCommand()	Outtake Algae
void	periodic()
Command	runAlgaeMotor(double voltage)	Run algae intake with given speed
Command	runAlgaeMotor(double voltage, DoubleSupplier speedSupplier)	Run algae intake with given speed
Command	runAlgaeMotor(DoubleSupplier voltage)	Run algae intake with given speed
Command	setSpeedMultiplier(double value)

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

hasAlgae

public Trigger hasAlgae

Get if algae is held

Constructor Details

ElevatorAlgae

public ElevatorAlgae(ElevatorAlgaeIO io,
 Viz2025 viz)

Constructor for Elevator Algae class

Method Details

periodic

public void periodic()

runAlgaeMotor

public Command runAlgaeMotor(double voltage,
 DoubleSupplier speedSupplier)

Run algae intake with given speed

runAlgaeMotor

public Command runAlgaeMotor(double voltage)

Run algae intake with given speed

runAlgaeMotor

public Command runAlgaeMotor(DoubleSupplier voltage)

Run algae intake with given speed

algaeIntakeCommand

public Command algaeIntakeCommand()

Keeps algae intake motor running even after it has intaked an algae, but it lowers the speed

algaeIntakeCommand

public Command algaeIntakeCommand(BooleanSupplier supplier)

Keeps algae intake motor running even after it has intaked an algae, but it lowers the speed

algaeHoldCommand

public Command algaeHoldCommand()

Hold Algae in mechanism

Returns:

Command

algaeOuttakeCommand

public Command algaeOuttakeCommand()

Outtake Algae

Returns:

Command to outtake algae

setSpeedMultiplier

public Command setSpeedMultiplier(double value)