Package frc.robot.subsystems

Class PanelManipulator

  • All Implemented Interfaces:
    edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
    public class PanelManipulator
extends edu.wpi.first.wpilibj2.command.SubsystemBase
    Subsystem in charge of interacting with the control panel

    • Method Summary

      All Methods Static Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      static PanelManipulator getInstance()
      Get the PanelManipulator instance
      void goToColor​(java.lang.String color)
      Set the manipulator to move an FMS color under the field sensor
      boolean isIdle()
      Check if the system is idle
      boolean isTouchingPanel()
      Get if the manipulator is currently touching the control panel
      void periodic()  
      void rotateForTime​(double seconds)  
      void rotateTo​(double relRotations)
      Rotate panel by N rotations
      void stop()
      Stop the system

      • 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 PanelManipulator getInstance()
        Get the PanelManipulator instance
        Returns:
        Instance

      • periodic

        public void periodic()

      • isTouchingPanel

        public boolean isTouchingPanel()
        Get if the manipulator is currently touching the control panel
        Returns:
        Is touching control panel?

      • isIdle

        public boolean isIdle()
        Check if the system is idle
        Returns:
        Is system idle?

      • rotateTo

        public void rotateTo​(double relRotations)
        Rotate panel by N rotations
        Parameters:
        relRotations - Number of rotations for panel

      • goToColor

        public void goToColor​(java.lang.String color)
        Set the manipulator to move an FMS color under the field sensor
        Parameters:
        color - FMS color string

      • stop

        public void stop()
        Stop the system

      • rotateForTime

        public void rotateForTime​(double seconds)