Package frc.robot.systems

Class ClimberFSMSystem

java.lang.Object

frc.robot.systems.FSMSystem<ClimberFSMSystem.ClimberFSMState>

frc.robot.systems.ClimberFSMSystem

public class ClimberFSMSystem
extends FSMSystem<ClimberFSMSystem.ClimberFSMState>

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static enum	ClimberFSMSystem.ClimberFSMState

Constructor Summary

Constructors

Constructor	Description
ClimberFSMSystem(Optional<IntakeFSMSystem> intakeFSMSystem)	Create ClimberFSMSystem and initialize to starting state.

Method Summary

Modifier and Type	Method	Description
com.ctre.phoenix6.configs.TalonFXConfiguration	getConfig()	Get the TalonFXConfiguration for the climber motors.
double	getLeftMotorVoltage()	Get the Left motor voltage in volts.
double	getMotorPosition()	Get the motor position in rotations.
double	getMotorVelocity()	Get the motor velocity in rotations per second.
double	getRightMotorVoltage()	Get the Right motor voltage in volts.
protected ClimberFSMSystem.ClimberFSMState	nextState(Input input)	Get the next state for the FSM based on inputs.
void	reset()	Reset this system to its start state.
void	update(Input input)	Update FSM based on new inputs.
void	updateLogging()	Update logging values for this system.

Methods inherited from class frc.robot.systems.FSMSystem

getCurrentState, setCurrentState, watchForStatesCommand

Methods inherited from class java.lang.Object

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

Constructor Details

ClimberFSMSystem

public ClimberFSMSystem(Optional<IntakeFSMSystem> intakeFSMSystem)

Create ClimberFSMSystem 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.

Parameters:

intakeFSMSystem - the IntakeFSMSystem

Method Details

getConfig

public com.ctre.phoenix6.configs.TalonFXConfiguration getConfig()

Get the TalonFXConfiguration for the climber motors.

Returns:

TalonFXConfiguration for the climber motors

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.

Specified by:

reset in class FSMSystem<ClimberFSMSystem.ClimberFSMState>

update

public void update(Input input)

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

Specified by:

update in class FSMSystem<ClimberFSMSystem.ClimberFSMState>

Parameters:

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

updateLogging

public void updateLogging()

Update logging values for this system.

getMotorPosition

public double getMotorPosition()

Get the motor position in rotations.

Returns:

motor position in rotations

getMotorVelocity

public double getMotorVelocity()

Get the motor velocity in rotations per second.

Returns:

motor velocity in rotations per second

getLeftMotorVoltage

public double getLeftMotorVoltage()

Get the Left motor voltage in volts.

Returns:

motor voltage in volts

getRightMotorVoltage

public double getRightMotorVoltage()

Get the Right motor voltage in volts.

Returns:

motor voltage in volts

nextState

protected ClimberFSMSystem.ClimberFSMState nextState(Input input)

Description copied from class: FSMSystem

Get the next state for the FSM based on inputs.

Specified by:

nextState in class FSMSystem<ClimberFSMSystem.ClimberFSMState>

Parameters:

input - the input object

Returns:

the next state