Package frc.robot.subsystems

Class MARSIntakePivot

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.MARSIntakePivot
All Implemented Interfaces:
SystemTestable, edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class MARSIntakePivot extends edu.wpi.first.wpilibj2.command.SubsystemBase implements SystemTestable
High-level subsystem representing the intake deployment pivot.

Handles physics simulation, angular position tracking, and dynamic load shedding to prevent battery brownouts using MARSPowerManager data.

  • Constructor Summary

    Constructors
    Constructor
    Description
    MARSIntakePivot(RotaryMechanismIO io, MARSPowerManager powerManager)
     

  • Method Summary

    Modifier and Type
    Method
    Description
    double
    getPositionRads()
     
    edu.wpi.first.wpilibj2.command.Command
    getSystemCheckCommand()
    Generates an autonomous, state-machine style verification routine for this subsystem.
    edu.wpi.first.wpilibj2.command.Command
    home()
     
    edu.wpi.first.wpilibj2.command.Command
    homeWithCurrent(double homingVoltage, double currentThresholdAmps)
     
    boolean
    isAtTolerance()
     
    void
    periodic()
     
    void
    setTargetPosition(double positionRads)
    Commands the intake pivot to a target angular position using Motion Magic with dynamic feedforward.
    edu.wpi.first.wpilibj2.command.Command
    sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
     
    edu.wpi.first.wpilibj2.command.Command
    sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)
     

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

    addChild, getName, getSubsystem, initSendable, setName, setSubsystem

    Methods inherited from class java.lang.Object

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

    Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

    defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

  • Constructor Details

  • Method Details

    • periodic

      public void periodic()
      Specified by:
      periodic in interface edu.wpi.first.wpilibj2.command.Subsystem

    • setTargetPosition

      public void setTargetPosition(double positionRads)
      Commands the intake pivot to a target angular position using Motion Magic with dynamic feedforward.
      Parameters:
      positionRads - Target angle in radians.

    • isAtTolerance

      public boolean isAtTolerance()

    • getPositionRads

      public double getPositionRads()

    • sysIdQuasistatic

      public edu.wpi.first.wpilibj2.command.Command sysIdQuasistatic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

    • sysIdDynamic

      public edu.wpi.first.wpilibj2.command.Command sysIdDynamic(edu.wpi.first.wpilibj2.command.sysid.SysIdRoutine.Direction direction)

    • homeWithCurrent

      public edu.wpi.first.wpilibj2.command.Command homeWithCurrent(double homingVoltage, double currentThresholdAmps)

    • home

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

    • getSystemCheckCommand

      public edu.wpi.first.wpilibj2.command.Command getSystemCheckCommand()
      Description copied from interface: SystemTestable
      Generates an autonomous, state-machine style verification routine for this subsystem.
      Specified by:
      getSystemCheckCommand in interface SystemTestable
      Returns:
      A command that runs through diagnostic checks and logs results.