Package frc.robot.subsystems.intake.arm

Class Arm

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.intake.arm.Arm

All Implemented Interfaces:

Sendable, Subsystem, Monitored

public class Arm
extends SubsystemBase
implements Monitored

Subsystem for controlling the robot's intake mechanism.

Responsible for deploying/retracting the intake arm and controlling the rollers to pull in or push out game pieces.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Arm.Goal	High-level goals for the intake arm.

Constructor Summary

Constructors

Constructor	Description
Arm(ArmIO io)	Creates a new Arm subsystem.

Method Summary

Modifier and Type	Method	Description
void	clearFaults()	Clears all faults and warnings.
Command	deploy()	Returns a command to move the arm to the deployed position.
Trigger	isDeployed()	Returns a trigger that is true when the arm is in the deployed position.
boolean	isHealthy()	Returns whether or not the subsystem is healthy
Trigger	isRetracted()	Returns a trigger that is true when the arm is in the retracted position.
void	periodic()	Updates hardware inputs, logs data, and updates status alerts.
Command	retract()	Returns a command to move the arm to the retracted position.
void	setDeploy()	Convenience method to set the deploy goal directly.
void	setGoal(Arm.Goal goal)	Sets the high-level goal for the intake arm.
void	setRetract()	Convenience method to set the retract goal directly.

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

Arm

public Arm(ArmIO io)

Creates a new Arm subsystem.

Parameters:

io - The abstraction layer for the arm hardware.

Method Details

setGoal

public void setGoal(Arm.Goal goal)

Sets the high-level goal for the intake arm.

Parameters:

goal - The target goal for the arm.

periodic

public void periodic()

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

Specified by:

periodic in interface Subsystem

isDeployed

public Trigger isDeployed()

Returns a trigger that is true when the arm is in the deployed position.

Returns:

The deployed trigger.

isRetracted

public Trigger isRetracted()

Returns a trigger that is true when the arm is in the retracted position.

Returns:

The retracted trigger.

deploy

public Command deploy()

Returns a command to move the arm to the deployed position.

Returns:

The deploy command.

retract

public Command retract()

Returns a command to move the arm to the retracted position.

Returns:

The retract command.

setRetract

public void setRetract()

Convenience method to set the retract goal directly.

setDeploy

public void setDeploy()

Convenience method to set the deploy goal directly.

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