frc.team670.robot.subsystems

Class Claw

java.lang.Object

Subsystem

frc.team670.robot.subsystems.Claw

public class Claw
extends Subsystem

Represents the claw mechanism of the robot. Release Ball: hard open, push Pick Up Ball: soft close Pick Up Hatch: hard open Release Hatch: hard close Opening Normally: soft open

Author:

shaylandias

Field Summary

Fields

Modifier and Type	Field and Description
static double	LENGTH_IN_INCHES Distance from base of claw to the end if it is closed.
static double	MAX_CLAW_OPEN_DIAMETER
static double	TIME_TO_MOVE The amount of time to delay to allow the pneumatics to move in seconds

Constructor Summary

Constructors

Constructor and Description
Claw()

Method Summary

Modifier and Type	Method and Description
void	closeClaw() Closes the claw.
void	initDefaultCommand()
boolean	isOpen()
void	openClaw() Opens the claw.
void	push() Should pop out the ball.
void	toggleGrip() Toggles the claw grip based on closed and soft.
void	togglePush()

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

TIME_TO_MOVE

public static final double TIME_TO_MOVE

The amount of time to delay to allow the pneumatics to move in seconds

See Also:

Constant Field Values

MAX_CLAW_OPEN_DIAMETER

public static final double MAX_CLAW_OPEN_DIAMETER

See Also:

Constant Field Values

LENGTH_IN_INCHES

public static final double LENGTH_IN_INCHES

Distance from base of claw to the end if it is closed.

See Also:

Constant Field Values

Constructor Detail

Claw

public Claw()

Method Detail

toggleGrip

public void toggleGrip()

Toggles the claw grip based on closed and soft.

closeClaw

public void closeClaw()

Closes the claw.

togglePush

public void togglePush()

openClaw

public void openClaw()

Opens the claw.

push

public void push()

Should pop out the ball.

isOpen

public boolean isOpen()

initDefaultCommand

public void initDefaultCommand()