Package frc.robot

Class Superstructure

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.Superstructure

All Implemented Interfaces:

Sendable, Subsystem

public class Superstructure
extends SubsystemBase

The Superstructure subsystem acts as an orchestrator for the robot's secondary systems.

It coordinates the interactions between the Arm, Spinner, Shooter, and Climb subsystems, ensuring that mechanical interlocks are respected (e.g., not deploying the intake while climbing) and managing field-position-based aiming logic.

Constructor Summary

Constructors

Constructor	Description
Superstructure(Drive drive, Climb climb, Arm arm, Spinner spinner, Shooter shooter, Indexer indexer, PDH pdh, Vision vision, Driver driver, Operator operator)	Constructs the Superstructure.

Method Summary

Modifier and Type	Method	Description
Trigger	canClimb()
Trigger	canDeployArm()
Trigger	canRunIntake()
void	clearFaults()	Clears all faults and warnings from all subsystems.
Command	deployArm()
Command	extake()
WritableTrigger	getClimbMode()
Rotation2d	getTargetRotation()
boolean	hasTarget()
Command	intake()
boolean	isHealthy()	Returns whether or not all subsystems in the superstructure are healthy
Trigger	isReadyToShoot()
Command	lowerClimb()
void	periodic()	Updates the high-level state of the robot, including aiming calculations based on field position and determining whether the shooter should be active.
Command	raiseClimb()
Command	retractArm()
void	toggleClimbMode()	Toggles the climb mode state.

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

Constructor Details

Superstructure

public Superstructure(Drive drive,
 Climb climb,
 Arm arm,
 Spinner spinner,
 Shooter shooter,
 Indexer indexer,
 PDH pdh,
 Vision vision,
 Driver driver,
 Operator operator)

Constructs the Superstructure.

Parameters:

drive - The drive subsystem.

climb - The climb subsystem.

arm - The arm subsystem.

spinner - The spinner subsystem.

shooter - The shooter subsystem.

indexer - The indexer subsystem.

pdh - The power distribution hub subsystem.

vision - The vision subsystem.

driver - The driver control service.

operator - The operator control service.

Method Details

periodic

public void periodic()

Updates the high-level state of the robot, including aiming calculations based on field position and determining whether the shooter should be active.

deployArm

public Command deployArm()

Returns:

A command to deploy the intake arm.

retractArm

public Command retractArm()

Returns:

A command to retract the intake arm.

intake

public Command intake()

Returns:

A command to run the intake spinner.

extake

public Command extake()

Returns:

A command to reverse the intake spinner (extake).

raiseClimb

public Command raiseClimb()

Returns:

A command to raise the climb mechanism.

lowerClimb

public Command lowerClimb()

Returns:

A command to lower the climb mechanism.

toggleClimbMode

public void toggleClimbMode()

Toggles the climb mode state. If climb mode is enabled, the intake arm is automatically commanded to retract to prevent damage.

canDeployArm

public Trigger canDeployArm()

Returns:

A trigger that is true only if the arm is safe to deploy (not climbing, and climb is stowed).

canRunIntake

public Trigger canRunIntake()

Returns:

A trigger that is true if the intake is physically in a position to run.

canClimb

public Trigger canClimb()

Returns:

A trigger that is true if climb mode is active and the arm is safely retracted.

isReadyToShoot

public Trigger isReadyToShoot()

Returns:

A trigger that is true when the robot has a target, is correctly aligned to the target's heading, and the shooter flywheel/hood are at their setpoints.

hasTarget

public boolean hasTarget()

Returns:

Whether the superstructure currently has an active aiming target.

getTargetRotation

public Rotation2d getTargetRotation()

Returns:

The desired robot rotation for the current aiming target.

getClimbMode

public WritableTrigger getClimbMode()

Returns:

The WritableTrigger representing the climb mode state.

isHealthy

public boolean isHealthy()

Returns whether or not all subsystems in the superstructure are healthy

Returns:

True if all subsystems are healthy, false otherwise.

clearFaults

public void clearFaults()

Clears all faults and warnings from all subsystems.