Package robot.subsystems

Class OrchestraSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

robot.subsystems.OrchestraSubsystem

All Implemented Interfaces:

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

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

Orchestra™

Field Summary

Fields

Modifier and Type	Field	Description
static final String	PATH
boolean	playing
final String	songName

Method Summary

Modifier and Type	Method	Description
static edu.wpi.first.wpilibj2.command.Command	c_loadAndPlaySong(String name, int tracks, CustomTalonFX... motors)	Loads a song and then returns a command to play it.
static void	loadSong(String name, int tracks, CustomTalonFX... motors)	Loads a song to be played later with playSong(String).
static boolean	playSong(String name)	Play a song that was already loaded with loadSong(String, int, CustomTalonFX...).
static boolean	stopAll()	Stop all songs.
static boolean	stopSong(String name)	Stop a song.

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

PATH

public static final String PATH

See Also:

• Constant Field Values

songName

public final String songName

playing

public boolean playing

Method Details

loadSong

public static void loadSong(String name,
 int tracks,
 CustomTalonFX... motors)

Loads a song to be played later with playSong(String).

Files for the song should be located at deploy/chirp/<name>_<track>.chrp

Parameters:

name - The name of the song to load.

tracks - The number of tracks the song has.

motors - The motors that will be used to play the song. There should be at least as many motors as there are tracks. Motors will be distributed as evenly as possible between the tracks, filling all tracks first, then going back to add multiple motors to the same track (you can use nulls to skip over tracks when assigning motors).

playSong

public static boolean playSong(String name)

Play a song that was already loaded with loadSong(String, int, CustomTalonFX...).

Parameters:

name - The name of the song to play.

Returns:

Whether the song was successfully played.

stopSong

public static boolean stopSong(String name)

Stop a song.

Parameters:

name - The name of the song to stop.

Returns:

Whether the song was successfully stopped.

stopAll

public static boolean stopAll()

Stop all songs.

Returns:

Whether all songs were successfully stopped.

c_loadAndPlaySong

public static edu.wpi.first.wpilibj2.command.Command c_loadAndPlaySong(String name,
 int tracks,
 CustomTalonFX... motors)

Loads a song and then returns a command to play it. See loadSong(String, int, CustomTalonFX...).

Returns:

A Command to play the song.