Package frc.robot.subsystems

Class AlgaGrabber

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.AlgaGrabber
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class AlgaGrabber extends edu.wpi.first.wpilibj2.command.SubsystemBase
Subsystem that controls the Alga Grabber motor mechanism.

  • Method Summary

    Modifier and Type
    Method
    Description
    static AlgaGrabber
    getInstance()
     
    void
    periodic()
     
    edu.wpi.first.wpilibj2.command.Command
    runDrop()
    Runs the drop motor when elevator is in DOWN position.
    edu.wpi.first.wpilibj2.command.Command
    runIntake()
    Runs the intake motor when elevator is in DOWN position.
    edu.wpi.first.wpilibj2.command.Command
    stop()
    Stops the grabber motor.

    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, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Method Details

    • getInstance

      public static AlgaGrabber getInstance()

    • runIntake

      public edu.wpi.first.wpilibj2.command.Command runIntake()
      Runs the intake motor when elevator is in DOWN position.
      Returns:
      A command that runs the intake.

    • runDrop

      public edu.wpi.first.wpilibj2.command.Command runDrop()
      Runs the drop motor when elevator is in DOWN position.
      Returns:
      A command that runs the drop.

    • stop

      public edu.wpi.first.wpilibj2.command.Command stop()
      Stops the grabber motor.
      Returns:
      A command that stops the motor.

    • periodic

      public void periodic()