Package frc.robot.subsystems.turret

Class Turret

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.turret.Turret

All Implemented Interfaces:

Sendable, Subsystem

public class Turret
extends SubsystemBase

Subsystem representing the robot turret.

Constructor Summary

Constructors

Constructor	Description
Turret(TurretIO io, RobotState state)	Creates a new Turret subsystem.

Method Summary

Modifier and Type	Method	Description
Command	characterization()	Run characterization procedure
Rotation2d	getTurretHeading()
Command	goToAngleFieldRelative(Supplier<Rotation2d> rotations)	Aim turret in field frame
Command	goToAngleRobotRelative(Supplier<Rotation2d> rotations)	Aim turret in robot frame
void	periodic()
void	resetTurret()
boolean	setGoalFieldRelative(Rotation2d targetAngle)	Set target angle relative to the field.
boolean	setGoalRobotRelative(Rotation2d targetAngle, AngularVelocity velocity)
Command	setVoltage(DoubleSupplier voltage)	Set turret motor's output voltage.
void	setVoltageIO(DoubleSupplier voltage)

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

Turret

public Turret(TurretIO io,
 RobotState state)

Creates a new Turret subsystem.

Parameters:

io - Hardware abstraction used to read sensors and control actuators

Method Details

periodic

public void periodic()

getTurretHeading

public Rotation2d getTurretHeading()

setVoltage

public Command setVoltage(DoubleSupplier voltage)

Set turret motor's output voltage.

setVoltageIO

public void setVoltageIO(DoubleSupplier voltage)

setGoalRobotRelative

public boolean setGoalRobotRelative(Rotation2d targetAngle,
 AngularVelocity velocity)

Parameters:

targetAngle - gets the goal angle

setGoalFieldRelative

public boolean setGoalFieldRelative(Rotation2d targetAngle)

Set target angle relative to the field.

goToAngleRobotRelative

public Command goToAngleRobotRelative(Supplier<Rotation2d> rotations)

Aim turret in robot frame

goToAngleFieldRelative

public Command goToAngleFieldRelative(Supplier<Rotation2d> rotations)

Aim turret in field frame

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.

resetTurret

public void resetTurret()