Package com.stuypulse.robot.subsystems.intake

Class IntakeSim

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.intake.Intake

com.stuypulse.robot.subsystems.intake.IntakeSim

All Implemented Interfaces:

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

public class IntakeSim
extends Intake

Nested Class Summary

Nested classes/interfaces inherited from class com.stuypulse.robot.subsystems.intake.Intake

Intake.IntakeState

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.controls.Follower	followerController
private final com.ctre.phoenix6.controls.PositionTorqueCurrentFOC	pivotController
private final TalonFXSimulation	pivotMotor
private final edu.wpi.first.wpilibj.simulation.SingleJointedArmSim	pivotSim
private Optional<edu.wpi.first.units.measure.Voltage>	pivotVoltageOverride
private final com.ctre.phoenix6.controls.DutyCycleOut	rollerController
private final TalonFXSimulation	rollerMotorLeft
private final TalonFXSimulation	rollerMotorRight
private final edu.wpi.first.wpilibj.simulation.DCMotorSim	rollerSim
private edu.wpi.first.math.geometry.Rotation2d	zeroOffset

Constructor Summary

Constructors

Constructor	Description
IntakeSim()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine	getIntakeSysIdRoutine()
edu.wpi.first.units.measure.Angle	getRelativePosition()
edu.wpi.first.units.measure.AngularVelocity	getRollerVelocity()
boolean	limitSwitchHit()
void	periodic()
void	seedPivotAngle(edu.wpi.first.units.measure.Angle angle)
void	setPivotVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)
protected void	stopPivotMotor()
protected void	stopRollerMotors()

Methods inherited from class com.stuypulse.robot.subsystems.intake.Intake

atTargetAngle, getInstance, getState, isPivotAboveThreshold, setState, stopAllMotors

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

pivotSim

private final edu.wpi.first.wpilibj.simulation.SingleJointedArmSim pivotSim

pivotMotor

private final TalonFXSimulation pivotMotor

pivotController

private final com.ctre.phoenix6.controls.PositionTorqueCurrentFOC pivotController

rollerMotorLeft

private final TalonFXSimulation rollerMotorLeft

rollerMotorRight

private final TalonFXSimulation rollerMotorRight

rollerSim

private final edu.wpi.first.wpilibj.simulation.DCMotorSim rollerSim

rollerController

private final com.ctre.phoenix6.controls.DutyCycleOut rollerController

followerController

private final com.ctre.phoenix6.controls.Follower followerController

pivotVoltageOverride

private Optional<edu.wpi.first.units.measure.Voltage> pivotVoltageOverride

zeroOffset

private edu.wpi.first.math.geometry.Rotation2d zeroOffset

Constructor Details

IntakeSim

public IntakeSim()

Method Details

limitSwitchHit

public boolean limitSwitchHit()

Specified by:

limitSwitchHit in class Intake

getRelativePosition

public edu.wpi.first.units.measure.Angle getRelativePosition()

Specified by:

getRelativePosition in class Intake

seedPivotAngle

public void seedPivotAngle(edu.wpi.first.units.measure.Angle angle)

Specified by:

seedPivotAngle in class Intake

getRollerVelocity

public edu.wpi.first.units.measure.AngularVelocity getRollerVelocity()

Specified by:

getRollerVelocity in class Intake

stopRollerMotors

protected void stopRollerMotors()

Specified by:

stopRollerMotors in class Intake

stopPivotMotor

protected void stopPivotMotor()

Specified by:

stopPivotMotor in class Intake

setPivotVoltageOverride

public void setPivotVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)

Specified by:

setPivotVoltageOverride in class Intake

periodic

public void periodic()

Specified by:

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

Overrides:

periodic in class Intake

getIntakeSysIdRoutine

public edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine getIntakeSysIdRoutine()

Specified by:

getIntakeSysIdRoutine in class Intake