Package frc.robot.systems

Class FunnelFSMSystem

java.lang.Object

frc.robot.systems.FunnelFSMSystem

public class FunnelFSMSystem
extends Object

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	FunnelFSMSystem.FunnelFSMState

Constructor Summary

Constructors

Constructor	Description
FunnelFSMSystem()	Create a FunnelFSMSystem and initialize to starting state.

Method Summary

Modifier and Type	Method	Description
FunnelFSMSystem.FunnelFSMState	getCurrentState()	Return current FSM state.
double	getOuttakeTimeElapsed()	Returns the funnel outtake timer value.
edu.wpi.first.wpilibj2.command.Command	intakeCoralCommand()	Creates a Command to intake coral.
boolean	isHoldingCoral()	Getter for the status of the funnel's break beam.
edu.wpi.first.wpilibj2.command.Command	outtakeCoralCommand()	Creates a Command to close the funnel.
void	reset()	Reset this system to its start state.
void	update(TeleopInput input)	Update FSM based on new inputs.
void	updateLogging()	Calls all logging and telemetry to be updated periodically.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

FunnelFSMSystem

public FunnelFSMSystem()

Create a FunnelFSMSystem and initialize to starting state. Also perform any one-time initialization or configuration of hardware required. Note the constructor is called only once when the robot boots.

Method Details

getCurrentState

public FunnelFSMSystem.FunnelFSMState getCurrentState()

Return current FSM state.

Returns:

Current FSM state

reset

public void reset()

Reset this system to its start state. This may be called from mode init when the robot is enabled. Note this is distinct from the one-time initialization in the constructor as it may be called multiple times in a boot cycle, Ex. if the robot is enabled, disabled, then reenabled.

update

public void update(TeleopInput input)

Update FSM based on new inputs. This function only calls the FSM state specific handlers.

Parameters:

input - Global TeleopInput if robot in teleop mode or null if the robot is in autonomous mode.

getOuttakeTimeElapsed

public double getOuttakeTimeElapsed()

Returns the funnel outtake timer value.

Returns:

amount of time the funnel has been opened.

updateLogging

public void updateLogging()

Calls all logging and telemetry to be updated periodically.

isHoldingCoral

public boolean isHoldingCoral()

Getter for the status of the funnel's break beam. Public for access to elevator.

Returns:

whether the limit is reached

intakeCoralCommand

public edu.wpi.first.wpilibj2.command.Command intakeCoralCommand()

Creates a Command to intake coral.

Returns:

A new intake coral command.

outtakeCoralCommand

public edu.wpi.first.wpilibj2.command.Command outtakeCoralCommand()

Creates a Command to close the funnel.

Returns:

A new funnel close command.