Package frc.robot.subsystems.indexer

Class Indexer

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.indexer.Indexer

All Implemented Interfaces:

Sendable, Subsystem

public class Indexer
extends SubsystemBase

Indexer class

Constructor Summary

Constructors

Constructor	Description
Indexer(IndexerIO io)

Method Summary

Modifier and Type	Method	Description
void	periodic()
Command	runSpindexer(BooleanSupplier doSpin)	Spin indexer if doSpin is true
void	setMagazineDutyCycle(double dutyCycle)
Command	setSpeedCommand(double magazineDutyCycle, double spindexerDutyCycle)
void	setSpindexerDutyCycle(double dutyCycle)
Command	spinWhileIntake()	Spin indexer while intaking balls

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, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

Indexer

public Indexer(IndexerIO io)

Method Details

periodic

public void periodic()

setMagazineDutyCycle

public void setMagazineDutyCycle(double dutyCycle)

setSpindexerDutyCycle

public void setSpindexerDutyCycle(double dutyCycle)

setSpeedCommand

public Command setSpeedCommand(double magazineDutyCycle,
 double spindexerDutyCycle)

Parameters:

magazineDutyCycle - power value from (-1) to 1

spindexerDutyCycle - power value from (-1) to 1

Returns:

command to set speed of indexer and spinner

runSpindexer

public Command runSpindexer(BooleanSupplier doSpin)

Spin indexer if doSpin is true

spinWhileIntake

public Command spinWhileIntake()

Spin indexer while intaking balls

Returns:

Command