ClimberSubsystem Class Reference

#include <climber_subsystem.h>

Inheritance diagram for ClimberSubsystem:

Public Member Functions
	ClimberSubsystem (argos_lib::RobotInstance robotInstance)
void	Periodic () override
void	Disable ()
void	ClimberUp (double speed=0.1)
void	ClimberDown (double speed=0.1)
void	WinchIn (double speed=0.75, bool stopPositionMotor=true)
void	ClimberStop ()
void	PositionMotorStop ()
units::ampere_t	GetPositionMotorCurrent ()
void	SetClimberManualOverride (bool desiredOverrideState)
bool	GetClimberManualOverride () const
void	ClimberMoveToAngle (units::degree_t angle)
units::degree_t	ClimberGetAngle ()
bool	ClimberIsAtSetPoint ()
void	SetPrimaryBreakModeToBreak (bool value)
void	SetPositionMotorBreakModeToBreak (bool value)
void	WinchStop ()

Private Member Functions
void	EnableSoftLimits ()
void	DisableSoftLimits ()

Private Attributes
ctre::phoenix6::hardware::TalonFX	m_climberWinch
ctre::phoenix6::hardware::TalonFX	m_climberPositionMotor
argos_lib::RobotInstance	m_robotInstance
bool	m_climberManualOverride

Detailed Description

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Constructor & Destructor Documentation

ClimberSubsystem()

ClimberSubsystem::ClimberSubsystem ( argos_lib::RobotInstance robotInstance )

explicit

Copyright

Copyright (c) Argos FRC Team 1756. Open Source Software; you can modify and/or share it under the terms of the license file in the root directory of this project.

Member Function Documentation

ClimberDown()

void ClimberSubsystem::ClimberDown

(

double

speed = 0.1

)

ClimberGetAngle()

units::degree_t ClimberSubsystem::ClimberGetAngle ( )

nodiscard

ClimberIsAtSetPoint()

bool ClimberSubsystem::ClimberIsAtSetPoint ( )

nodiscard

ClimberMoveToAngle()

void ClimberSubsystem::ClimberMoveToAngle

(

units::degree_t

angle

)

ClimberStop()

void ClimberSubsystem::ClimberStop

(

)

ClimberUp()

void ClimberSubsystem::ClimberUp

(

double

speed = 0.1

)

Disable()

void ClimberSubsystem::Disable

(

)

DisableSoftLimits()

void ClimberSubsystem::DisableSoftLimits ( )

private

EnableSoftLimits()

void ClimberSubsystem::EnableSoftLimits ( )

private

GetClimberManualOverride()

bool ClimberSubsystem::GetClimberManualOverride ( ) const

nodiscard

GetPositionMotorCurrent()

units::ampere_t ClimberSubsystem::GetPositionMotorCurrent

(

)

Periodic()

void ClimberSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

PositionMotorStop()

void ClimberSubsystem::PositionMotorStop

(

)

SetClimberManualOverride()

void ClimberSubsystem::SetClimberManualOverride

(

bool

desiredOverrideState

)

SetPositionMotorBreakModeToBreak()

void ClimberSubsystem::SetPositionMotorBreakModeToBreak

(

bool

value

)

SetPrimaryBreakModeToBreak()

void ClimberSubsystem::SetPrimaryBreakModeToBreak

(

bool

value

)

WinchIn()

void ClimberSubsystem::WinchIn	(	double	speed = 0.75,
		bool	stopPositionMotor = true )

WinchStop()

void ClimberSubsystem::WinchStop

(

)

Member Data Documentation

m_climberManualOverride

bool ClimberSubsystem::m_climberManualOverride

private

m_climberPositionMotor

ctre::phoenix6::hardware::TalonFX ClimberSubsystem::m_climberPositionMotor

private

m_climberWinch

ctre::phoenix6::hardware::TalonFX ClimberSubsystem::m_climberWinch

private

m_robotInstance

argos_lib::RobotInstance ClimberSubsystem::m_robotInstance

private

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The documentation for this class was generated from the following files:

• src/main/include/subsystems/climber_subsystem.h
• src/main/cpp/subsystems/climber_subsystem.cpp