Package frc.robot.subsystems.indexer

Class Indexer

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.indexer.Indexer

All Implemented Interfaces:

Sendable, Subsystem, Monitored

public class Indexer
extends SubsystemBase
implements Monitored

Subsystem for the robot's indexer mechanism.

Responsible for controlling the speed of the motor driving the indexer to transfer game pieces from the intake to the shooter.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Indexer.Goal	High-level goals for the indexer.

Constructor Summary

Constructors

Constructor	Description
Indexer(IndexerIO io)	Creates a new Indexer subsystem.

Method Summary

Modifier and Type	Method	Description
void	clearFaults()	Clears all faults and warnings.
boolean	isHealthy()	Returns whether or not the subsystem is healthy
void	periodic()	Updates hardware inputs, logs data, and updates status alerts.
Command	run()	Returns a command to run the indexer while the command is held.
void	setGoal(Indexer.Goal goal)	Sets the current goal for the indexer.
Command	startRun()	Returns a command to start running the indexer.
Command	stop()	Returns a command to stop the indexer.

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

Indexer

public Indexer(IndexerIO io)

Creates a new Indexer subsystem.

Parameters:

io - The abstraction layer for the indexer hardware.

Method Details

setGoal

public void setGoal(Indexer.Goal goal)

Sets the current goal for the indexer.

Parameters:

goal - The target goal.

periodic

public void periodic()

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

Specified by:

periodic in interface Subsystem

run

public Command run()

Returns a command to run the indexer while the command is held.

Returns:

The run command.

startRun

public Command startRun()

Returns a command to start running the indexer.

Returns:

The start run command.

stop

public Command stop()

Returns a command to stop the indexer.

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