Package frc.robot.subsystems.Arm

Class Claw

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.Arm.Claw

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class Claw
extends edu.wpi.first.wpilibj2.command.SubsystemBase

Field Summary

Fields

Modifier and Type	Field	Description
final edu.wpi.first.wpilibj2.command.button.Trigger	beamBreak
final BooleanSupplier	isClosed
final BooleanSupplier	isOpen
final DoubleSupplier	rollerOutput
final DoubleSupplier	totalCurrentDraw

Constructor Summary

Constructors

Constructor	Description
Claw()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	closeClawCommand()
com.revrobotics.REVLibError	configureAll(com.revrobotics.spark.config.SparkMaxConfig rollerLeftConfig, com.revrobotics.spark.config.SparkMaxConfig rollerRightConfig)
edu.wpi.first.wpilibj2.command.Command	ejectConeCommand()
edu.wpi.first.wpilibj2.command.Command	ejectCubeCommand()
edu.wpi.first.wpilibj2.command.Command	holdConeCommand()
edu.wpi.first.wpilibj2.command.Command	holdCubeCommand()
edu.wpi.first.wpilibj2.command.Command	idleCommand()
edu.wpi.first.wpilibj2.command.Command	openClawCommand()
void	periodic()
edu.wpi.first.wpilibj2.command.Command	prepareForConeCommand()
edu.wpi.first.wpilibj2.command.Command	prepareForCubeCommand()
edu.wpi.first.wpilibj2.command.Command	receiveConeCommand()
edu.wpi.first.wpilibj2.command.Command	receiveCubeCommand()
edu.wpi.first.wpilibj2.command.Command	setRollerSpeedCommand(DoubleSupplier speed)	To stop rollers, call stopRollersCommand() instead
void	simulationPeriodic()
edu.wpi.first.wpilibj2.command.Command	stopRollersCommand()

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, startEnd, startRun

Field Details

beamBreak

public final edu.wpi.first.wpilibj2.command.button.Trigger beamBreak

isOpen

public final BooleanSupplier isOpen

isClosed

public final BooleanSupplier isClosed

rollerOutput

public final DoubleSupplier rollerOutput

totalCurrentDraw

public final DoubleSupplier totalCurrentDraw

Constructor Details

Claw

public Claw()

Method Details

configureAll

public com.revrobotics.REVLibError configureAll(com.revrobotics.spark.config.SparkMaxConfig rollerLeftConfig,
 com.revrobotics.spark.config.SparkMaxConfig rollerRightConfig)

prepareForCubeCommand

public edu.wpi.first.wpilibj2.command.Command prepareForCubeCommand()

prepareForConeCommand

public edu.wpi.first.wpilibj2.command.Command prepareForConeCommand()

receiveCubeCommand

public edu.wpi.first.wpilibj2.command.Command receiveCubeCommand()

holdCubeCommand

public edu.wpi.first.wpilibj2.command.Command holdCubeCommand()

receiveConeCommand

public edu.wpi.first.wpilibj2.command.Command receiveConeCommand()

holdConeCommand

public edu.wpi.first.wpilibj2.command.Command holdConeCommand()

ejectCubeCommand

public edu.wpi.first.wpilibj2.command.Command ejectCubeCommand()

ejectConeCommand

public edu.wpi.first.wpilibj2.command.Command ejectConeCommand()

openClawCommand

public edu.wpi.first.wpilibj2.command.Command openClawCommand()

closeClawCommand

public edu.wpi.first.wpilibj2.command.Command closeClawCommand()

setRollerSpeedCommand

public edu.wpi.first.wpilibj2.command.Command setRollerSpeedCommand(DoubleSupplier speed)

To stop rollers, call stopRollersCommand() instead

stopRollersCommand

public edu.wpi.first.wpilibj2.command.Command stopRollersCommand()

idleCommand

public edu.wpi.first.wpilibj2.command.Command idleCommand()

periodic

public void periodic()

simulationPeriodic

public void simulationPeriodic()