Flyboi

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.Flyboi

All Implemented Interfaces:: edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class Flyboi
extends edu.wpi.first.wpilibj2.command.SubsystemBase

The shooter, composed of a single flywheel.

Field Summary

Fields

Modifier and Type Field Description

com.revrobotics.CANEncoder leftEncoder

com.revrobotics.CANEncoder rightEncoder

double wheelSpeed
Constructor Summary

Constructors

Constructor Description

Flyboi()

Method Summary

Modifier and Type	Method	Description
`double`	`getPower()`
`void`	`initDefaultCommand()`
`void`	`setShootVoltage(double speed)`	Spins wheel motors at a certain speed by setting its desired voltage.
`void`	`spinWheel(double speed)`	Spins wheel motors.
`void`	`stopWheel()`	Stops wheel motors.

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.wpilibj.Sendable

addChild, setName, setName, setName

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

getCurrentCommand, getDefaultCommand, periodic, register, setDefaultCommand, simulationPeriodic

Field Details
- leftEncoder
  
  public com.revrobotics.CANEncoder leftEncoder
- rightEncoder
  
  public com.revrobotics.CANEncoder rightEncoder
- wheelSpeed
  
  public double wheelSpeed
Constructor Details
- Flyboi
  
  public Flyboi()
Method Details
- initDefaultCommand
  
  public void initDefaultCommand()
- spinWheel
  
  public void spinWheel(double speed)
  
  Spins wheel motors. Recommended to use setShootVoltage instead.
  
  Parameters:
  
  speed - The speed to set the flywheel to (-1 to 1).
- stopWheel
  
  public void stopWheel()
  
  Stops wheel motors.
- getPower
  
  public double getPower()
  
  Returns:
  
  The velocity of the flywheel as found by the left flywheel encoder (around -1 to 1).
- setShootVoltage
  
  public void setShootVoltage(double speed)
  
  Spins wheel motors at a certain speed by setting its desired voltage. This will attempt to keep the flywheel velocity at a little above the velocity input, according to getPower. The actual velocity will fluctuate a little, but will attempt to stay at this voltage no matter the battery level.
  
  Parameters:
  
  speed - The speed to set the flywheel to (around -1 to 1).