Package frc.robot.subsystems.intake.spinner

Class Spinner

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.intake.spinner.Spinner

All Implemented Interfaces:

Sendable, Subsystem, Monitored

public class Spinner
extends SubsystemBase
implements Monitored

Subsystem for controlling the intake spinner rollers.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	Spinner.Goal	Possible goals for the spinner.

Constructor Summary

Constructors

Constructor	Description
Spinner(SpinnerIO io)	Creates a new Spinner subsystem.

Method Summary

Modifier and Type	Method	Description
void	clearFaults()	Clears all faults and warnings.
Command	extake()	Returns a command to run the extake.
Command	intake()	Returns a command to run the intake.
boolean	isHealthy()	Returns whether or not the subsystem is healthy
void	periodic()
void	setGoal(Spinner.Goal goal)	Sets the current requested behavior for the rollers.
Command	startExtake()	Returns a command to start the extake.
Command	startIntake()	Returns a command to start the intake.
Command	stop()	Returns a command to stop the spinner.

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

Spinner

public Spinner(SpinnerIO io)

Creates a new Spinner subsystem.

Parameters:

io - The IO implementation to use.

Method Details

setGoal

public void setGoal(Spinner.Goal goal)

Sets the current requested behavior for the rollers.

Parameters:

goal - The target goal for the spinner.

periodic

public void periodic()

Specified by:

periodic in interface Subsystem

intake

public Command intake()

Returns a command to run the intake.

Returns:

The intake command.

startIntake

public Command startIntake()

Returns a command to start the intake.

Returns:

The start intake command.

extake

public Command extake()

Returns a command to run the extake.

Returns:

The extake command.

startExtake

public Command startExtake()

Returns a command to start the extake.

Returns:

The start extake command.

stop

public Command stop()

Returns a command to stop the spinner.

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