Package frc.robot.subsystems

Class Helix

java.lang.Object
edu.wpi.first.wpilibj2.command.SubsystemBase
frc.robot.subsystems.Helix
All Implemented Interfaces:
edu.wpi.first.wpilibj.Sendable, edu.wpi.first.wpilibj2.command.Subsystem
public class Helix
extends edu.wpi.first.wpilibj2.command.SubsystemBase
The helix, the storage mechanism, with a spinning brush and cell stop piston.

  • Field Summary

    Fields 
    Modifier and Type Field Description
    int cellCount  
    com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX helicase  

  • Constructor Summary

    Constructors 
    Constructor Description
    Helix()  

  • Method Summary

    Modifier and Type Method Description
    protected void initDefaultCommand()  
    void setHelixMotors​(double power)
    Spins the helix brush.
    void stopHelixMotors()
    Stops the helix brush.

    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

    • helicase

      public com.ctre.phoenix.motorcontrol.can.WPI_TalonSRX helicase

    • cellCount

      public int cellCount

  • Constructor Details

  • Method Details

    • initDefaultCommand

      protected void initDefaultCommand()

    • setHelixMotors

      public void setHelixMotors​(double power)
      Spins the helix brush.
      Parameters:
      power - The power with which to spin the brush (-1 to 1).

    • stopHelixMotors

      public void stopHelixMotors()
      Stops the helix brush.