Package frc.robot.subsystems

Class CoralManipulator

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.CoralManipulator
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class CoralManipulator extends edu.wpi.first.wpilibj2.command.SubsystemBase
Subsystem that controls the coral manipulator (intake/output mechanism). This handles the basic motor control and sensor detection for the coral game pieces.

  • Field Summary

    Fields
    Modifier and Type
    Field
    Description
    final edu.wpi.first.wpilibj2.command.button.Trigger
    doesntHaveCoral
    Trigger that is active when the Coral Manipulator does not have a coral.
    final edu.wpi.first.wpilibj2.command.button.Trigger
    hasCoral
    Trigger that is active when the Coral Manipulator has a coral.
    final edu.wpi.first.wpilibj2.command.button.Trigger
    running
    Trigger that is active when the Coral Manipulator is running.

  • Method Summary

    Modifier and Type
    Method
    Description
    edu.wpi.first.wpilibj2.command.Command
    drop()
    Drops a coral until the sensor no longer detects it.
    edu.wpi.first.wpilibj2.command.Command
    eject()
    Ejects a alga off the reef.
    edu.wpi.first.wpilibj2.command.Command
    ejectOrDrop()
    Command that toggles between different states: - If stopped: Drops coral if detected, otherwise ejects - If already running: Stops all operations
    static CoralManipulator
    getInstance()
    Gets the singleton instance of the CoralManipulator subsystem.
    edu.wpi.first.wpilibj2.command.Command
    instantStop()
    Instantly stops the coral manipulator.
    edu.wpi.first.wpilibj2.command.Command
    intake()
    Intakes a coral until the sensor detects it.
    void
    periodic()
     
    edu.wpi.first.wpilibj2.command.Command
    stop()
    Stops the coral manipulator.

    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

    • running

      public final edu.wpi.first.wpilibj2.command.button.Trigger running
      Trigger that is active when the Coral Manipulator is running.

    • doesntHaveCoral

      public final edu.wpi.first.wpilibj2.command.button.Trigger doesntHaveCoral
      Trigger that is active when the Coral Manipulator does not have a coral.

    • hasCoral

      public final edu.wpi.first.wpilibj2.command.button.Trigger hasCoral
      Trigger that is active when the Coral Manipulator has a coral.

  • Method Details

    • getInstance

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

    • intake

      public edu.wpi.first.wpilibj2.command.Command intake()
      Intakes a coral until the sensor detects it.
      Returns:
      A command that intakes a coral.

    • drop

      public edu.wpi.first.wpilibj2.command.Command drop()
      Drops a coral until the sensor no longer detects it.
      Returns:
      A command that drops a coral.

    • eject

      public edu.wpi.first.wpilibj2.command.Command eject()
      Ejects a alga off the reef.
      Returns:
      A command that ejects a alga.

    • stop

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

    • instantStop

      public edu.wpi.first.wpilibj2.command.Command instantStop()
      Instantly stops the coral manipulator.
      Returns:
      A command that instantly stops the coral manipulator.

    • ejectOrDrop

      public edu.wpi.first.wpilibj2.command.Command ejectOrDrop()
      Command that toggles between different states: - If stopped: Drops coral if detected, otherwise ejects - If already running: Stops all operations

      This provides an easy way to perform the most intuitive action based on context.

      Returns:
      Command that performs the appropriate action based on current state

    • periodic

      public void periodic()