Package frc.robot.subsystems.climb

Class Climb

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.climb.Climb

All Implemented Interfaces:

Sendable, Subsystem, Monitored

public class Climb
extends SubsystemBase
implements Monitored

Subsystem for the robot's climb mechanism.

Handles controlling the lift motor voltage and monitoring limit switches to prevent over-extension or damage to the mechanism.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Climb.Goal	High-level goals for the climb subsystem.

Constructor Summary

Constructors

Constructor	Description
Climb(ClimbIO io)	Creates a new Climb subsystem.

Method Summary

Modifier and Type	Method	Description
void	clearFaults()	Clears all faults and warnings.
Trigger	isDown()	Returns a trigger that is true when the lower limit switch is triggered.
boolean	isHealthy()	Returns whether or not the subsystem is healthy
Trigger	isUp()	Returns a trigger that is true when the upper limit switch is triggered.
Command	lower()	Returns a command to lower the climber until it hits the lower limit.
void	periodic()	Updates hardware inputs, logs data, and updates status alerts.
Command	raise()	Returns a command to raise the climber until it hits the upper limit.
void	setGoal(Climb.Goal goal)	Sets the current requested goal for the climber.
Command	stop()	Returns a command to stop the climber.

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

Climb

public Climb(ClimbIO io)

Creates a new Climb subsystem.

Parameters:

io - The abstraction layer for the climb hardware.

Method Details

setGoal

public void setGoal(Climb.Goal goal)

Sets the current requested goal for the climber.

Parameters:

goal - The target goal for the climber.

periodic

public void periodic()

Updates hardware inputs, logs data, and updates status alerts.

Specified by:

periodic in interface Subsystem

isUp

public Trigger isUp()

Returns a trigger that is true when the upper limit switch is triggered.

Returns:

The upper limit trigger.

isDown

public Trigger isDown()

Returns a trigger that is true when the lower limit switch is triggered.

Returns:

The lower limit trigger.

raise

public Command raise()

Returns a command to raise the climber until it hits the upper limit.

Returns:

The raise command.

lower

public Command lower()

Returns a command to lower the climber until it hits the lower limit.

Returns:

The lower command.

stop

public Command stop()

Returns a command to stop the climber.

Returns:

The stop command.

isHealthy

public boolean isHealthy()

Returns whether or not the subsystem is healthy

Specified by:

isHealthy in interface Monitored

Returns:

True if the subsystem is healthy, false otherwise.

clearFaults

public void clearFaults()

Clears all faults and warnings.

Specified by:

clearFaults in interface Monitored