Package com.stuypulse.robot.subsystems.handoff

Class HandoffImpl

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.handoff.Handoff

com.stuypulse.robot.subsystems.handoff.HandoffImpl

All Implemented Interfaces:

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

public class HandoffImpl
extends Handoff

Nested Class Summary

Nested classes/interfaces inherited from class com.stuypulse.robot.subsystems.handoff.Handoff

Handoff.HandoffState

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.controls.VoltageOut	handoffController
private final edu.wpi.first.math.filter.Debouncer	handoffDebouncer
private final com.ctre.phoenix6.hardware.TalonFX	handoffMotor
private final BooleanSupplier	handoffStalling
private final LoggedSignals	signals

Constructor Summary

Constructors

Constructor	Description
HandoffImpl()

Method Summary

Modifier and Type	Method	Description
protected boolean	handoffStalling()
void	periodic()
protected void	stopMotors()

Methods inherited from class com.stuypulse.robot.subsystems.handoff.Handoff

getInstance, getState, setState

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

handoffMotor

private final com.ctre.phoenix6.hardware.TalonFX handoffMotor

handoffController

private final com.ctre.phoenix6.controls.VoltageOut handoffController

signals

private final LoggedSignals signals

handoffStalling

private final BooleanSupplier handoffStalling

handoffDebouncer

private final edu.wpi.first.math.filter.Debouncer handoffDebouncer

Constructor Details

HandoffImpl

public HandoffImpl()

Method Details

stopMotors

protected void stopMotors()

Specified by:

stopMotors in class Handoff

handoffStalling

protected boolean handoffStalling()

Specified by:

handoffStalling in class Handoff

periodic

public void periodic()

Specified by:

periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

Overrides:

periodic in class Handoff