Package com.stuypulse.robot.subsystems.shooter

Class ShooterImpl

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

com.stuypulse.robot.subsystems.shooter.Shooter

com.stuypulse.robot.subsystems.shooter.ShooterImpl

All Implemented Interfaces:

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

public class ShooterImpl
extends Shooter

Nested Class Summary

Nested classes/interfaces inherited from class com.stuypulse.robot.subsystems.shooter.Shooter

Shooter.ShooterState

Field Summary

Fields

Modifier and Type	Field	Description
private final com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC	shooterController
private final com.ctre.phoenix6.controls.Follower	shooterFollowerController
private final com.ctre.phoenix6.hardware.TalonFX	shooterMotorCenter
private final com.ctre.phoenix6.hardware.TalonFX	shooterMotorLeft
private final com.ctre.phoenix6.hardware.TalonFX	shooterMotorRight
private final LoggedSignals	signals
private Optional<edu.wpi.first.units.measure.Voltage>	voltageOverride

Constructor Summary

Constructors

Constructor	Description
ShooterImpl()

Method Summary

Modifier and Type	Method	Description
edu.wpi.first.units.measure.AngularVelocity	getCurrentAngularVelocity()
edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine	getShooterSysIdRoutine()
void	periodic()
void	setVoltageOverride(edu.wpi.first.units.measure.Voltage voltage)
protected void	stopMotors()

Methods inherited from class com.stuypulse.robot.subsystems.shooter.Shooter

addToBonusVelocity, getInstance, getState, logMotor, resetBonusVelocity, setState, shooterSpunUp

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

shooterMotorLeft

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

shooterMotorCenter

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

shooterMotorRight

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

shooterController

private final com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC shooterController

shooterFollowerController

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

signals

private final LoggedSignals signals

voltageOverride

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

Constructor Details

ShooterImpl

public ShooterImpl()

Method Details

setVoltageOverride

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

Specified by:

setVoltageOverride in class Shooter

getCurrentAngularVelocity

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

Specified by:

getCurrentAngularVelocity in class Shooter

stopMotors

protected void stopMotors()

Specified by:

stopMotors in class Shooter

periodic

public void periodic()

Specified by:

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

Overrides:

periodic in class Shooter

getShooterSysIdRoutine

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

Specified by:

getShooterSysIdRoutine in class Shooter