Package frc.robot.subsystems

Class Climber

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
    public class Climber
extends edu.wpi.first.wpilibj2.command.SubsystemBase
    Robot climber subsystem

    • Nested Class Summary

      Nested Classes 
      Modifier and Type Class Description
      static class  Climber.Position
      System positions

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      edu.wpi.cscore.VideoSource getCameraFeed()
      Get the climber camera feed
      static Climber getInstance()
      Get the instance of Climber
      Climber.Position getPosition()
      Get the climber's current position
      void handleRetract​(boolean isNew)
      Handle climber retraction
      void handleService​(boolean isNew)
      Handle service mode
      void lock()
      Lock the climber
      void periodic()  
      void service()
      Go into service mode
      void setPosition​(Climber.Position position)
      Set the desired position for the climber.
      void unlock()
      Unlock the climber

      • 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.wpilibj.Sendable

        addChild, setName, setName, setName

      • Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

        getCurrentCommand, getDefaultCommand, register, setDefaultCommand

    • Method Detail

      • getInstance

        public static Climber getInstance()
        Get the instance of Climber
        Returns:
        Climber Instance

      • periodic

        public void periodic()

      • handleRetract

        public void handleRetract​(boolean isNew)
        Handle climber retraction
        Parameters:
        isNew -

      • handleService

        public void handleService​(boolean isNew)
        Handle service mode
        Parameters:
        isNew - Is new state?

      • lock

        public void lock()
        Lock the climber

      • unlock

        public void unlock()
        Unlock the climber

      • service

        public void service()
        Go into service mode

      • setPosition

        public void setPosition​(Climber.Position position)
        Set the desired position for the climber. "CURRENT" will hold it in place
        Parameters:
        position - Desired position

      • getPosition

        public Climber.Position getPosition()
        Get the climber's current position
        Returns:
        Climber's position

      • getCameraFeed

        public edu.wpi.cscore.VideoSource getCameraFeed()
        Get the climber camera feed
        Returns:
        Camera feed