Package frc.robot.commands

Class MARSDiagnosticCheck

java.lang.Object
edu.wpi.first.wpilibj2.command.Command
edu.wpi.first.wpilibj2.command.SequentialCommandGroup
frc.robot.commands.MARSDiagnosticCheck
All Implemented Interfaces:
edu.wpi.first.util.sendable.Sendable
public class MARSDiagnosticCheck extends edu.wpi.first.wpilibj2.command.SequentialCommandGroup
Sequential command group that performs a predefined sequence of automated hardware checks.

  • Nested Class Summary

    Nested classes/interfaces inherited from class edu.wpi.first.wpilibj2.command.Command

    edu.wpi.first.wpilibj2.command.Command.InterruptionBehavior

  • Constructor Summary

    Constructors
    Constructor
    Description
    MARSDiagnosticCheck(SwerveDrive swerveDrive, MARSClimber climber, MARSCowl cowl)
    Constructs a full diagnostic sweep command.

  • Method Summary

    Methods inherited from class edu.wpi.first.wpilibj2.command.SequentialCommandGroup

    addCommands, end, execute, getInterruptionBehavior, initialize, initSendable, isFinished, runsWhenDisabled

    Methods inherited from class edu.wpi.first.wpilibj2.command.Command

    addRequirements, addRequirements, alongWith, andThen, andThen, asProxy, beforeStarting, beforeStarting, cancel, deadlineFor, deadlineWith, finallyDo, finallyDo, getName, getRequirements, getSubsystem, handleInterrupt, hasRequirement, ignoringDisable, isScheduled, onlyIf, onlyWhile, raceWith, repeatedly, schedule, setName, setSubsystem, unless, until, withDeadline, withInterruptBehavior, withName, withTimeout, withTimeout

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • MARSDiagnosticCheck

      public MARSDiagnosticCheck(SwerveDrive swerveDrive, MARSClimber climber, MARSCowl cowl)
      Constructs a full diagnostic sweep command.

      Executes a sequenced hardware sweep:

      • Runs SwerveDrive forward at 0.5m/s for 0.5s to verify translation blocks.
      • Moves the Cowl to 0.2 radians.
      • Jolts the Climber at 6.0 Volts for 0.5s to check unloaded lift dynamics.
      • Returns active test components safely back to zero.
      Parameters:
      swerveDrive - The robot drivetrain.
      climber - The main lifting/climbing mechanism.
      cowl - The shooter hood / adjustable angle mechanism.