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

Class ClimberIORevServoReal

java.lang.Object
frc.alotobots.reefscape.subsystems.climber.io.ClimberIORevServoReal
All Implemented Interfaces:
ClimberIO
public class ClimberIORevServoReal extends Object implements ClimberIO
Implementation of ClimberIO for REV Robotics Servo Hub hardware. Controls two servos for climbing mechanism: - A plunger servo that moves between up/down positions - A locking servo that engages/disengages a lock Also monitors two limit switches that detect cage position.

  • Constructor Details

    • ClimberIORevServoReal

      public ClimberIORevServoReal()
      Initializes the climber hardware. Briefly enables then disables both servos to ensure proper initialization.

  • Method Details

    • getCageSwitches

      public boolean getCageSwitches()
      Gets the state of both cage limit switches.
      Specified by:
      getCageSwitches in interface ClimberIO
      Returns:
      true if both switches are triggered, false otherwise

    • updateInputs

      public void updateInputs(ClimberIO.ClimberIOInputs inputs)
      Updates all input values from hardware sensors.
      Specified by:
      updateInputs in interface ClimberIO
      Parameters:
      inputs - The inputs object to update with current hardware state

    • enablePlungerServo

      public void enablePlungerServo()
      Enables power and control to the plunger servo.
      Specified by:
      enablePlungerServo in interface ClimberIO

    • enableLockingServo

      public void enableLockingServo()
      Enables power and control to the locking servo.
      Specified by:
      enableLockingServo in interface ClimberIO

    • disablePlungerServo

      public void disablePlungerServo()
      Disables power and control to the plunger servo.
      Specified by:
      disablePlungerServo in interface ClimberIO

    • disableLockingServo

      public void disableLockingServo()
      Disables power and control to the locking servo.
      Specified by:
      disableLockingServo in interface ClimberIO

    • enableElevatorLockingServo

      public void enableElevatorLockingServo()
      Description copied from interface: ClimberIO
      Enables the elevator locking servo
      Specified by:
      enableElevatorLockingServo in interface ClimberIO

    • disableElevatorLockingServo

      public void disableElevatorLockingServo()
      Description copied from interface: ClimberIO
      Disables the elevator locking servo
      Specified by:
      disableElevatorLockingServo in interface ClimberIO

    • setPlungerServoPosition

      public void setPlungerServoPosition(Angle angle)
      Sets the plunger servo position based on an angle.
      Specified by:
      setPlungerServoPosition in interface ClimberIO
      Parameters:
      angle - The desired angle, where: - 0 degrees = down/plunge position (PLUNGER_SERVO_0_PW) - 180 degrees = up/receive position (PLUNGER_SERVO_180_PW) The angle is mapped to pulse width: - Maps 0° → PLUNGER_SERVO_0_PW (plunge/down position) - Maps 180° → PLUNGER_SERVO_180_PW (receive/up position)

    • setLockingServoLocked

      public void setLockingServoLocked(boolean lockingServoLocked)
      Sets the locking servo to either locked or unlocked position.
      Specified by:
      setLockingServoLocked in interface ClimberIO
      Parameters:
      lockingServoLocked - true to lock, false to unlock

    • setElevatorLockingServoLocked

      public void setElevatorLockingServoLocked(boolean elevatorLockingServoLocked)
      Sets the elevator locking servo to either locked or unlocked position for the elevator.
      Specified by:
      setElevatorLockingServoLocked in interface ClimberIO
      Parameters:
      elevatorLockingServoLocked - true to lock, false to unlock