Package frc.robot.services.control.driver

Class Driver

java.lang.Object

frc.lib.service.BaseService

frc.robot.services.control.ControlService<DriverProfile,DriverIO,frc.robot.services.control.driver.DriverIOInputsAutoLogged>

frc.robot.services.control.driver.Driver

All Implemented Interfaces:

Monitored

public class Driver
extends ControlService<DriverProfile,DriverIO,frc.robot.services.control.driver.DriverIOInputsAutoLogged>

Subsystem for handling driver controls and input processing.

Field Summary

Fields inherited from class frc.robot.services.control.ControlService

chooser, inputs, io

Fields inherited from class frc.lib.service.BaseService

name

Constructor Summary

Constructors

Constructor	Description
Driver(DriverIO io, org.littletonrobotics.junction.networktables.LoggedDashboardChooser<DriverProfile> chooser)	Constructs the Driver subsystem.

Method Summary

Modifier and Type	Method	Description
Command	createDriveCommand(Drive drive)	Creates a command to drive the robot using the current driver profile inputs.
protected void	updateInputs(DriverIO io, frc.robot.services.control.driver.DriverIOInputsAutoLogged inputs, DriverProfile profile)	Subclasses must map the profile methods to the inputs object.
Trigger	wantsAim()	Returns a trigger that is active when the driver wants to aim.
Trigger	wantsReset()	Returns a trigger that is active when the driver wants to reset the robot pose.
Trigger	wantsShoot()	Returns a trigger that is active when the driver wants to shoot.

Methods inherited from class frc.robot.services.control.ControlService

clearFaults, isHealthy, update

Methods inherited from class frc.lib.service.BaseService

getName

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

Driver

public Driver(DriverIO io,
 org.littletonrobotics.junction.networktables.LoggedDashboardChooser<DriverProfile> chooser)

Constructs the Driver subsystem.

Parameters:

io - The DriverIO implementation.

chooser - The dashboard chooser for driver profiles.

Method Details

updateInputs

protected void updateInputs(DriverIO io,
 frc.robot.services.control.driver.DriverIOInputsAutoLogged inputs,
 DriverProfile profile)

Description copied from class: ControlService

Subclasses must map the profile methods to the inputs object.

Specified by:

updateInputs in class ControlService<DriverProfile,DriverIO,frc.robot.services.control.driver.DriverIOInputsAutoLogged>

Parameters:

io - The IO interface for hardware interaction.

inputs - The inputs object for logging and state.

profile - The control profile.

createDriveCommand

public Command createDriveCommand(Drive drive)

Creates a command to drive the robot using the current driver profile inputs.

Parameters:

drive - The drive subsystem.

Returns:

The drive command.

wantsAim

public Trigger wantsAim()

Returns a trigger that is active when the driver wants to aim.

Returns:

The aim trigger.

wantsShoot

public Trigger wantsShoot()

Returns a trigger that is active when the driver wants to shoot.

Returns:

The shoot trigger.

wantsReset

public Trigger wantsReset()

Returns a trigger that is active when the driver wants to reset the robot pose.

Returns:

The reset trigger.