frc2019.robot.subsystems.Erector

Subsystem for the climber. The climber is currently under revision.

Dependencies

• com.revrobotics.CANSparkMax
• com.revrobotics.ControlType
• com.revrobotics.CANSparkMax.IdleMode
• com.revrobotics.CANSparkMaxLowLevel.MotorType
• org.team3197.frc2019.robot.RobotMap
• org.team3197.frc2019.robot.RobotMap.DeadbandType
• org.team3197.frc2019.robot.commands.defaults.Erect
• Implements the org.team3197.frc2019.robot.utilities.Drivable Interface.
• `org.team3197.frc2019.robot.utilities.FunctionCommand <>`_
• edu.wpi.first.wpilibj.SpeeedControllerGroup
• Inherits properties of edu.wpi.first.wpilibj.command.Subsystem
• edu.wpi.first.wpilibj.smartdashboard.SmartDashboard

Commands

public Erector()

Constructor for the Subsystem Erector.

Motors are set to brake mode.

public void initDefaultCommand()

Associates the Erect command with the Subsystem Erector.

public void resetPID()

Resets the last encoder values so that the PID will zero out.

public void drive(double speed, boolean hold)

Drives the motor, moving up the climber.