Package frc.alotobots.reefscape.subsystems.climber.io

Interface ClimberIO

All Known Implementing Classes:
ClimberIORevServoReal
public interface ClimberIO
Interface for controlling the climber's hardware components. This interface defines methods for controlling two servos and reading various sensor inputs: - A plunger servo that moves between receive and plunge positions - A locking servo that secures the climbing cage - Cage limit switches for detecting if the climbing mechanism is engaged

  • Method Details

    • getCageSwitches

      default boolean getCageSwitches()
      Gets the state of both cage limit switches.
      Returns:
      true if both cage switches are activated

    • updateInputs

      default void updateInputs(ClimberIO.ClimberIOInputs inputs)
      Updates the input values with current hardware states.
      Parameters:
      inputs - The ClimberIOInputs object to update

    • enableLockingServo

      default void enableLockingServo()
      Enables the locking servo.

    • disableLockingServo

      default void disableLockingServo()
      Disables the locking servo.

    • enablePlungerServo

      default void enablePlungerServo()
      Enables the plunger servo.

    • disablePlungerServo

      default void disablePlungerServo()
      Disables the plunger servo.

    • enableElevatorLockingServo

      default void enableElevatorLockingServo()
      Enables the elevator locking servo

    • disableElevatorLockingServo

      default void disableElevatorLockingServo()
      Disables the elevator locking servo

    • setPlungerServoPosition

      default void setPlungerServoPosition(Angle angle)
      Sets the position of the plunger servo.
      Parameters:
      angle - The desired angle for the plunger servo

    • setLockingServoLocked

      default void setLockingServoLocked(boolean lockingServoLocked)
      Sets the locked state of the locking servo.
      Parameters:
      lockingServoLocked - true to lock, false to unlock

    • setElevatorLockingServoLocked

      default void setElevatorLockingServoLocked(boolean elevatorLockingServoLocked)