Package frc.robot.subsystems

Class Climb

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

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final edu.wpi.first.wpilibj2.command.button.Trigger
    atBottom
    Trigger that is active when the climb is at the bottom limit.
    final edu.wpi.first.wpilibj2.command.button.Trigger
    atTop
    Trigger that is active when the climb is at the top limit.

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.wpilibj2.command.Command
    climb()
    Climbs until the top limit is reached.
    static Climb
    getInstance()
    Gets the singleton instance of the Climb subsystem.
    void
    periodic()
     
    edu.wpi.first.wpilibj2.command.Command
    stop()
    Stops the climb.

    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

  • Field Details

    • atTop

      public final edu.wpi.first.wpilibj2.command.button.Trigger atTop
      Trigger that is active when the climb is at the top limit.

    • atBottom

      public final edu.wpi.first.wpilibj2.command.button.Trigger atBottom
      Trigger that is active when the climb is at the bottom limit.

  • Method Details

    • getInstance

      public static Climb getInstance()
      Gets the singleton instance of the Climb subsystem.
      Returns:
      The singleton instance.

    • climb

      public edu.wpi.first.wpilibj2.command.Command climb()
      Climbs until the top limit is reached.
      Returns:
      A command that climbs.

    • stop

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

    • periodic

      public void periodic()