Package robot.subsystems

Class ClimberSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

robot.subsystems.MotorSubsystem

robot.subsystems.ClimberSubsystem

All Implemented Interfaces:

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

public class ClimberSubsystem
extends MotorSubsystem

Field Summary

Fields

Modifier and Type	Field	Description
static final double	kD
static final double	kI
static final double	kP
static final double	MAX_VOLTAGE

Fields inherited from class robot.subsystems.MotorSubsystem

backwardVoltage, forwardVoltage, motors

Constructor Summary

Constructors

Constructor	Description
ClimberSubsystem(SmartMotorController motor, LinearDutyCycleEncoder encoder)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	c_down()
edu.wpi.first.wpilibj2.command.Command	c_gotoDown()
edu.wpi.first.wpilibj2.command.Command	c_gotoHeight(double height)
edu.wpi.first.wpilibj2.command.Command	c_gotoUp()
edu.wpi.first.wpilibj2.command.Command	c_up()
double	getHeight()
void	setVoltage(double voltage)
void	setVoltage(double voltage, boolean bypassSoftwareStop)

Methods inherited from class robot.subsystems.MotorSubsystem

c_backward, c_controlVoltage, c_DEBUG_tunePIDkG, c_forward, c_holdVoltage, c_stop, setMotorBrake, stop

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

Field Details

kP

public static final double kP

See Also:

• Constant Field Values

kI

public static final double kI

See Also:

• Constant Field Values

kD

public static final double kD

See Also:

• Constant Field Values

MAX_VOLTAGE

public static final double MAX_VOLTAGE

See Also:

• Constant Field Values

Constructor Details

ClimberSubsystem

public ClimberSubsystem(SmartMotorController motor,
 LinearDutyCycleEncoder encoder)

Parameters:

motor - :it's the motor

encoder - :there is only one encoder, what do you think it's for?

Method Details

c_up

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

c_down

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

getHeight

public double getHeight()

c_gotoUp

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

c_gotoDown

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

c_gotoHeight

public edu.wpi.first.wpilibj2.command.Command c_gotoHeight(double height)

setVoltage

public void setVoltage(double voltage)

Overrides:

setVoltage in class MotorSubsystem

setVoltage

public void setVoltage(double voltage,
 boolean bypassSoftwareStop)