Package robot.subsystems

Class ShooterSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

robot.subsystems.MotorSubsystem

robot.subsystems.ShooterSubsystem

All Implemented Interfaces:

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

public class ShooterSubsystem
extends MotorSubsystem

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	ShooterSubsystem.Hub

Field Summary

Fields

Modifier and Type	Field	Description
static boolean	ACCOUNT_FOR_ROBOT_VEL
static final ShooterSubsystem.Hub	BLUE_HUB
static final double	BLUE_LONG_SHOOT_X
static final double	FLYWHEEL_CIRC
static final double	GRAVITY
static final double	HUB_HEIGHT
static final ShooterSubsystem.Hub	RED_HUB
static final double	RED_LONG_SHOOT_X
static final double	SHOOTER_ANGLE
static final edu.wpi.first.math.geometry.Translation3d	SHOOTER_POS
static double	VELOCITY_MULT

Fields inherited from class robot.subsystems.MotorSubsystem

backwardVoltage, forwardVoltage, motors

Constructor Summary

Constructors

Constructor	Description
ShooterSubsystem(CustomTalonFX... motors)

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.Command	c_basicShoot()
edu.wpi.first.wpilibj2.command.Command	c_controlVelocity(DoubleSupplier getVelocity)
edu.wpi.first.wpilibj2.command.Command	c_longShoot()
edu.wpi.first.wpilibj2.command.Command	c_longShootAlign()
edu.wpi.first.wpilibj2.command.Command	c_smartShoot()
static edu.wpi.first.wpilibj2.command.Command	c_smartShootAlign()
boolean	canShoot()
static ShooterSubsystem.Hub	getOwnHub()
static double	getShooterVelocityForDistance(double dist)
void	periodic()

Methods inherited from class robot.subsystems.MotorSubsystem

c_backward, c_controlVoltage, c_DEBUG_tunePIDkG, c_forward, c_holdVoltage, c_stop, setMotorBrake, setVoltage, 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, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

ACCOUNT_FOR_ROBOT_VEL

public static boolean ACCOUNT_FOR_ROBOT_VEL

VELOCITY_MULT

public static double VELOCITY_MULT

GRAVITY

public static final double GRAVITY

See Also:

• Constant Field Values

FLYWHEEL_CIRC

public static final double FLYWHEEL_CIRC

SHOOTER_ANGLE

public static final double SHOOTER_ANGLE

SHOOTER_POS

public static final edu.wpi.first.math.geometry.Translation3d SHOOTER_POS

BLUE_LONG_SHOOT_X

public static final double BLUE_LONG_SHOOT_X

See Also:

• Constant Field Values

RED_LONG_SHOOT_X

public static final double RED_LONG_SHOOT_X

See Also:

• Constant Field Values

HUB_HEIGHT

public static final double HUB_HEIGHT

See Also:

• Constant Field Values

BLUE_HUB

public static final ShooterSubsystem.Hub BLUE_HUB

RED_HUB

public static final ShooterSubsystem.Hub RED_HUB

Constructor Details

ShooterSubsystem

public ShooterSubsystem(CustomTalonFX... motors)

Method Details

getOwnHub

public static ShooterSubsystem.Hub getOwnHub()

c_basicShoot

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

c_controlVelocity

public edu.wpi.first.wpilibj2.command.Command c_controlVelocity(DoubleSupplier getVelocity)

canShoot

public boolean canShoot()

c_smartShoot

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

c_smartShootAlign

public static edu.wpi.first.wpilibj2.command.Command c_smartShootAlign()

c_longShoot

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

c_longShootAlign

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

getShooterVelocityForDistance

public static double getShooterVelocityForDistance(double dist)

periodic

public void periodic()