ElevatorSubsystem Class Reference

#include <elevator_subsystem.h>

Inheritance diagram for ElevatorSubsystem:

Public Member Functions
	ElevatorSubsystem (argos_lib::RobotInstance robotInstance)
void	Periodic () override
void	ElevatorMove (double speed)
void	Pivot (double speed)
void	Rotate (double speed)
void	Disable ()
void	ElevatorMoveToHeight (units::inch_t height)
void	ArmMoveToAngle (units::degree_t armAngle)
void	SetWristAngle (units::degree_t wristAngle)
frc2::CommandPtr	CommandElevatorToHeight (units::inch_t height)
frc2::CommandPtr	CommandArmToAngle (units::degree_t armAngle)
frc2::CommandPtr	CommandWristToAngle (units::degree_t wristAngle)
void	SetElevatorManualOverride (bool desiredOverrideState)
bool	GetElevatorManualOverride () const
units::inch_t	GetElevatorHeight ()
bool	IsElevatorAtSetPoint ()
units::degree_t	GetArmAngle ()
bool	IsArmAtSetPoint ()
units::degree_t	GetWristAngle ()
bool	IsWristAtSetPoint ()
Position	GetPosition ()
bool	IsAtSetPoint ()
Position	GetSetpoint ()
void	GoToPosition (const Position target)
frc2::CommandPtr	CommandToPosition (const Position target)
bool	IsAtStowPosition ()
bool	IsArmOutsideFrame ()

Private Member Functions
void	EnableElevatorSoftLimits ()
void	DisableElevatorSoftLimits ()
void	EnableArmSoftLimits ()
void	DisableArmSoftLimits ()
void	EnableWristSoftLimits ()
void	DisableWristSoftLimits ()

Private Attributes
ctre::phoenix6::hardware::TalonFX	m_elevatorPrimary
ctre::phoenix6::hardware::TalonFX	m_elevatorSecondary
ctre::phoenix6::hardware::TalonFX	m_armMotor
ctre::phoenix6::hardware::TalonFX	m_wristMotor
argos_lib::RobotInstance	m_robotInstance
bool	m_elevatorManualOverride
bool	m_elevatorHomed
bool	m_armHomed
bool	m_wristHomed

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

ElevatorSubsystem()

ElevatorSubsystem::ElevatorSubsystem ( 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

ArmMoveToAngle()

void ElevatorSubsystem::ArmMoveToAngle

(

units::degree_t

armAngle

)

CommandArmToAngle()

frc2::CommandPtr ElevatorSubsystem::CommandArmToAngle ( units::degree_t armAngle )

nodiscard

CommandElevatorToHeight()

frc2::CommandPtr ElevatorSubsystem::CommandElevatorToHeight ( units::inch_t height )

nodiscard

CommandToPosition()

frc2::CommandPtr ElevatorSubsystem::CommandToPosition ( const Position target )

nodiscard

CommandWristToAngle()

frc2::CommandPtr ElevatorSubsystem::CommandWristToAngle ( units::degree_t wristAngle )

nodiscard

Disable()

void ElevatorSubsystem::Disable

(

)

DisableArmSoftLimits()

void ElevatorSubsystem::DisableArmSoftLimits ( )

private

DisableElevatorSoftLimits()

void ElevatorSubsystem::DisableElevatorSoftLimits ( )

private

DisableWristSoftLimits()

void ElevatorSubsystem::DisableWristSoftLimits ( )

private

ElevatorMove()

void ElevatorSubsystem::ElevatorMove

(

double

speed

)

ElevatorMoveToHeight()

void ElevatorSubsystem::ElevatorMoveToHeight

(

units::inch_t

height

)

EnableArmSoftLimits()

void ElevatorSubsystem::EnableArmSoftLimits ( )

private

EnableElevatorSoftLimits()

void ElevatorSubsystem::EnableElevatorSoftLimits ( )

private

EnableWristSoftLimits()

void ElevatorSubsystem::EnableWristSoftLimits ( )

private

GetArmAngle()

units::degree_t ElevatorSubsystem::GetArmAngle ( )

nodiscard

GetElevatorHeight()

units::inch_t ElevatorSubsystem::GetElevatorHeight ( )

nodiscard

GetElevatorManualOverride()

bool ElevatorSubsystem::GetElevatorManualOverride ( ) const

nodiscard

GetPosition()

Position ElevatorSubsystem::GetPosition ( )

nodiscard

GetSetpoint()

Position ElevatorSubsystem::GetSetpoint ( )

nodiscard

GetWristAngle()

units::degree_t ElevatorSubsystem::GetWristAngle ( )

nodiscard

GoToPosition()

void ElevatorSubsystem::GoToPosition

(

const Position

target

)

IsArmAtSetPoint()

bool ElevatorSubsystem::IsArmAtSetPoint ( )

nodiscard

IsArmOutsideFrame()

bool ElevatorSubsystem::IsArmOutsideFrame ( )

nodiscard

IsAtSetPoint()

bool ElevatorSubsystem::IsAtSetPoint ( )

nodiscard

IsAtStowPosition()

bool ElevatorSubsystem::IsAtStowPosition ( )

nodiscard

IsElevatorAtSetPoint()

bool ElevatorSubsystem::IsElevatorAtSetPoint ( )

nodiscard

IsWristAtSetPoint()

bool ElevatorSubsystem::IsWristAtSetPoint ( )

nodiscard

Periodic()

void ElevatorSubsystem::Periodic ( )

override

Will be called periodically whenever the CommandScheduler runs.

Pivot()

void ElevatorSubsystem::Pivot

(

double

speed

)

Rotate()

void ElevatorSubsystem::Rotate

(

double

speed

)

SetElevatorManualOverride()

void ElevatorSubsystem::SetElevatorManualOverride

(

bool

desiredOverrideState

)

SetWristAngle()

void ElevatorSubsystem::SetWristAngle

(

units::degree_t

wristAngle

)

Member Data Documentation

m_armHomed

bool ElevatorSubsystem::m_armHomed

private

m_armMotor

ctre::phoenix6::hardware::TalonFX ElevatorSubsystem::m_armMotor

private

m_elevatorHomed

bool ElevatorSubsystem::m_elevatorHomed

private

m_elevatorManualOverride

bool ElevatorSubsystem::m_elevatorManualOverride

private

m_elevatorPrimary

ctre::phoenix6::hardware::TalonFX ElevatorSubsystem::m_elevatorPrimary

private

m_elevatorSecondary

ctre::phoenix6::hardware::TalonFX ElevatorSubsystem::m_elevatorSecondary

private

m_robotInstance

argos_lib::RobotInstance ElevatorSubsystem::m_robotInstance

private

m_wristHomed

bool ElevatorSubsystem::m_wristHomed

private

m_wristMotor

ctre::phoenix6::hardware::TalonFX ElevatorSubsystem::m_wristMotor

private

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

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