Package com.stuypulse.robot.subsystems.shooter

Class Shooter

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.shooter.Shooter

All Implemented Interfaces:

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

Direct Known Subclasses:

ShooterImpl, ShooterSim

public abstract class Shooter
extends edu.wpi.first.wpilibj2.command.SubsystemBase

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Shooter.ShooterState	Enum representing the different possible states of the shooter.

Field Summary

Fields

Modifier and Type	Field	Description
private static edu.wpi.first.units.measure.AngularVelocity	bonusVelocity
private static final Shooter	instance
private Shooter.ShooterState	state

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	Shooter()

Method Summary

Modifier and Type	Method	Description
void	addToBonusVelocity(double velocity)
abstract edu.wpi.first.units.measure.AngularVelocity	getCurrentAngularVelocity()
static Shooter	getInstance()
abstract edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine	getShooterSysIdRoutine()
Shooter.ShooterState	getState()
void	logMotor(String motorName, com.ctre.phoenix6.hardware.TalonFX motor)
void	periodic()
void	resetBonusVelocity()
void	setState(Shooter.ShooterState state)
abstract void	setVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)
boolean	shooterSpunUp()
protected abstract void	stopMotors()

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

instance

private static final Shooter instance

bonusVelocity

private static edu.wpi.first.units.measure.AngularVelocity bonusVelocity

state

private Shooter.ShooterState state

Constructor Details

Shooter

protected Shooter()

Method Details

getInstance

public static Shooter getInstance()

setState

public void setState(Shooter.ShooterState state)

getState

public Shooter.ShooterState getState()

logMotor

public void logMotor(String motorName,
 com.ctre.phoenix6.hardware.TalonFX motor)

addToBonusVelocity

public void addToBonusVelocity(double velocity)

resetBonusVelocity

public void resetBonusVelocity()

getCurrentAngularVelocity

public abstract edu.wpi.first.units.measure.AngularVelocity getCurrentAngularVelocity()

stopMotors

protected abstract void stopMotors()

getShooterSysIdRoutine

public abstract edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine getShooterSysIdRoutine()

setVoltageOverride

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

shooterSpunUp

public boolean shooterSpunUp()

periodic

public void periodic()