Shooter (FRC2026 API)

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.shooter.Shooter

All Implemented Interfaces:: Sendable, Subsystem

public final class Shooter extends SubsystemBase

Shooter Subsystem

Field Summary

Fields

Modifier and Type

Field

Description

final frc.robot.subsystems.shooter.ShooterInputsAutoLogged

inputs
Constructor Summary

Constructors

Constructor

Description

Shooter(ShooterIO io)

Shooter Subsystem Constructor
Method Summary

Modifier and Type

Method

Description

Command

characterization()

Run characterization procedure

void

periodic()

void

setVelocity(double velocity)

Set shooter velocity

Command

shoot(double velocity)

Shoot at a given velocity

Command

shoot(DoubleSupplier velocity)

Shoot at a given velocity

double

timeSinceLastShot()

Get time since shooter last had a ball pass through.

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

Field Details
- inputs
  
  public final frc.robot.subsystems.shooter.ShooterInputsAutoLogged inputs
Constructor Details
- Shooter
  
  public Shooter(ShooterIO io)
  
  Shooter Subsystem Constructor
  
  Parameters:
  
  io - Shooter IO implementation
Method Details
- periodic
  
  public void periodic()
- timeSinceLastShot
  
  public double timeSinceLastShot()
  
  Get time since shooter last had a ball pass through.
- setVelocity
  
  public void setVelocity(double velocity)
  
  Set shooter velocity
- shoot
  
  public Command shoot(double velocity)
  
  Shoot at a given velocity
- shoot
  
  public Command shoot(DoubleSupplier velocity)
  
  Shoot at a given velocity
- characterization
  
  public Command characterization()
  
  Run characterization procedure
  WARNING: will not respect min/max turret angles. Unplug everything from the turret so it can spin a potentially infinite number of times.