Climber

java.lang.Object
- Subsystem
- - frc.team670.robot.subsystems.Climber

```
public class Climber
extends Subsystem
```
Represents the climbing mechanism on the robot.

Author:

shaylandias

Field Summary

Fields
Modifier and Type	Field and Description
`static double`	`CLIMBER_TICKS_PER_ROTATION`
`static double`	`DISTANCE_BETWEEN_FRONT_AND_BACK_PISTONS_IN_INCHES`
`static double`	`GEAR_RATIO`
`static double`	`MAXIMUM_PISTON_POWER`
`static double`	`MINIMUM_PISTON_POWER`
`static int`	`PISTON_ENCODER_FLAT`
`static int`	`PISTON_ENCODER_LEVEL_THREE`
`static int`	`PISTON_ENCODER_LEVEL_TWO`
`static double`	`WINCH_DIAMETER`

Constructor Summary

Constructors
Constructor and Description

Climber(MustangSensors sensors)

Constructors
Constructor and Description
`Climber(MustangSensors sensors)`

Method Summary

All Methods Static Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`static double`	`convertPistonTicksToInches(int ticks)`
`void`	`drivePistons(double frontPower, double backPower)` Drives the pistons down with percent power
`void`	`enableClimberPIDControllers(int setPoint)` Enables the PIDControllers to get them running
`boolean`	`getBackControllerOnTarget()` Returns true if the back controller is on target and false if not
`boolean`	`getBackPistonsRetracted()` Returns whether or not the command for retracting the back pistons has been called and finished
`boolean`	`getBackPistonsRetractionInProgress()` Returns whether or not the command for retracting the back pistons has been called and is in progress
`double`	`getBackTalonPositionInInches()` Returns the position of the back pistons in inches
`int`	`getBackTalonPositionInTicks()` Returns the position of the back pistons in ticks
`boolean`	`getFrontControllerOnTarget()` Returns true if the front controller is on target and false if not
`boolean`	`getFrontPistonsRetracted()` Returns whether or not the command for retracting the front pistons has been called and finished
`boolean`	`getFrontPistonsRetractionInProgress()` Returns whether or not the command for retracting the front pistons has been called and is in progress
`double`	`getFrontTalonPositionInInches()` Returns the position of the front pistons in inches
`int`	`getFrontTalonPositionInTicks()` Returns the position of the front pistons in ticks
`double`	`getPitchFromEncoders()` Returns pitch calculated from the difference in the front and back piston encoders.
`void`	`handleTilt(boolean goingUp, double tiltTolerance, double tiltAdjustment)` Method to set output ranges of piston controllers in response to an input of tilt adjustment.
`void`	`initDefaultCommand()`
`void`	`setBackPIDControllerSetpoint(int setpoint)` Sets a setpoint for the back PID controller
`void`	`setBackPistonOutputRange(double minValue, double maxValue)` Sets the output range of the back pistons
`void`	`setBackPistonsRetracted(boolean setRetracted)` Sets whether or not the command for retracting the back pistons has been called and finished
`void`	`setBackPistonsRetractionInProgress(boolean setRetractionInProgress)` Sets whether or not the command for retracting the back pistons has been called and is in progress
`void`	`setFrontPIDControllerSetpoint(int setpoint)` Sets a setpoint for the front PID controller
`void`	`setFrontPistonOutputRange(double minValue, double maxValue)` Sets the output range of the front pistons
`void`	`setFrontPistonsRetracted(boolean setRetracted)` Sets whether or not the command for retracting the front pistons has been called and finished
`void`	`setFrontPistonsRetractionInProgress(boolean setRetractionInProgress)` Sets whether or not the command for retracting the front pistons has been called and is in progress

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - PISTON_ENCODER_FLAT
```
public static final int PISTON_ENCODER_FLAT
```
    See Also:
    
    Constant Field Values
  - PISTON_ENCODER_LEVEL_TWO
```
public static final int PISTON_ENCODER_LEVEL_TWO
```
    See Also:
    
    Constant Field Values
  - PISTON_ENCODER_LEVEL_THREE
```
public static final int PISTON_ENCODER_LEVEL_THREE
```
    See Also:
    
    Constant Field Values
  - MINIMUM_PISTON_POWER
```
public static final double MINIMUM_PISTON_POWER
```
    See Also:
    
    Constant Field Values
  - MAXIMUM_PISTON_POWER
```
public static final double MAXIMUM_PISTON_POWER
```
    See Also:
    
    Constant Field Values
  - WINCH_DIAMETER
```
public static final double WINCH_DIAMETER
```
    See Also:
    
    Constant Field Values
  - GEAR_RATIO
```
public static final double GEAR_RATIO
```
    See Also:
    
    Constant Field Values
  - CLIMBER_TICKS_PER_ROTATION
```
public static final double CLIMBER_TICKS_PER_ROTATION
```
    See Also:
    
    Constant Field Values
  - DISTANCE_BETWEEN_FRONT_AND_BACK_PISTONS_IN_INCHES
```
public static final double DISTANCE_BETWEEN_FRONT_AND_BACK_PISTONS_IN_INCHES
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Climber
```
public Climber(MustangSensors sensors)
```
- Method Detail
  - drivePistons
```
public void drivePistons(double frontPower,
                         double backPower)
```
    Drives the pistons down with percent power
    
    Parameters:
    
    frontPower - the desired percent power for the front motors
    
    backPower - the desired percent power for the front motors
  - setFrontPistonOutputRange
```
public void setFrontPistonOutputRange(double minValue,
                                      double maxValue)
```
    Sets the output range of the front pistons
    
    Parameters:
    
    minValue - the minimum output for the front PID controller
    
    maxValue - the maximum output for the front PID controller
  - setBackPistonOutputRange
```
public void setBackPistonOutputRange(double minValue,
                                     double maxValue)
```
    Sets the output range of the back pistons
    
    Parameters:
    
    minValue - the minimum output for the back PID controller
    
    maxValue - the maximum output for the back PID controller
  - setFrontPIDControllerSetpoint
```
public void setFrontPIDControllerSetpoint(int setpoint)
```
    Sets a setpoint for the front PID controller
    
    Parameters:
    
    setpoint - the desired setpoint for the front PID controller
  - setBackPIDControllerSetpoint
```
public void setBackPIDControllerSetpoint(int setpoint)
```
    Sets a setpoint for the back PID controller
    
    Parameters:
    
    setpoint - the desired setpoint for the back PID controller
  - getFrontTalonPositionInTicks
```
public int getFrontTalonPositionInTicks()
```
    Returns the position of the front pistons in ticks
    
    Returns:
    
    The position of the front pistons in ticks
  - getBackTalonPositionInTicks
```
public int getBackTalonPositionInTicks()
```
    Returns the position of the back pistons in ticks
    
    Returns:
    
    The position of the back pistons in ticks
  - getFrontTalonPositionInInches
```
public double getFrontTalonPositionInInches()
```
    Returns the position of the front pistons in inches
    
    Returns:
    
    The position of the front pistons in inches
  - getBackTalonPositionInInches
```
public double getBackTalonPositionInInches()
```
    Returns the position of the back pistons in inches
    
    Returns:
    
    The position of the back pistons in inches
  - getFrontPistonsRetracted
```
public boolean getFrontPistonsRetracted()
```
    Returns whether or not the command for retracting the front pistons has been called and finished
    
    Returns:
    
    Whether or not the command for retracting the front pistons has been called and finished
  - getBackPistonsRetracted
```
public boolean getBackPistonsRetracted()
```
    Returns whether or not the command for retracting the back pistons has been called and finished
    
    Returns:
    
    Whether or not the command for retracting the back pistons has been called and finished
  - setFrontPistonsRetracted
```
public void setFrontPistonsRetracted(boolean setRetracted)
```
    Sets whether or not the command for retracting the front pistons has been called and finished
    
    Parameters:
    
    setRetracted - Whether or not the command for retracting the front pistons has been called and finished
  - setBackPistonsRetracted
```
public void setBackPistonsRetracted(boolean setRetracted)
```
    Sets whether or not the command for retracting the back pistons has been called and finished
    
    Parameters:
    
    setRetracted - Whether or not the command for retracting the back pistons has been called and finished
  - getFrontPistonsRetractionInProgress
```
public boolean getFrontPistonsRetractionInProgress()
```
    Returns whether or not the command for retracting the front pistons has been called and is in progress
    
    Returns:
    
    Whether or not the command for retracting the front pistons has been called and is in progress
  - getBackPistonsRetractionInProgress
```
public boolean getBackPistonsRetractionInProgress()
```
    Returns whether or not the command for retracting the back pistons has been called and is in progress
    
    Returns:
    
    Whether or not the command for retracting the back pistons has been called and is in progress
  - setFrontPistonsRetractionInProgress
```
public void setFrontPistonsRetractionInProgress(boolean setRetractionInProgress)
```
    Sets whether or not the command for retracting the front pistons has been called and is in progress
    
    Parameters:
    
    setRetractionInProgress - Whether or not the command for retracting the front pistons has been called and is in progress
  - setBackPistonsRetractionInProgress
```
public void setBackPistonsRetractionInProgress(boolean setRetractionInProgress)
```
    Sets whether or not the command for retracting the back pistons has been called and is in progress
    
    Parameters:
    
    setRetractionInProgress - Whether or not the command for retracting the back pistons has been called and is in progress
  - getFrontControllerOnTarget
```
public boolean getFrontControllerOnTarget()
```
    Returns true if the front controller is on target and false if not
  - getBackControllerOnTarget
```
public boolean getBackControllerOnTarget()
```
    Returns true if the back controller is on target and false if not
  - getPitchFromEncoders
```
public double getPitchFromEncoders()
```
    Returns pitch calculated from the difference in the front and back piston encoders. Returns negative if front is down and positive if front is up
  - convertPistonTicksToInches
```
public static double convertPistonTicksToInches(int ticks)
```
  - enableClimberPIDControllers
```
public void enableClimberPIDControllers(int setPoint)
```
    Enables the PIDControllers to get them running
    
    Parameters:
    
    setPoint - the desired end goal of the piston climb
  - handleTilt
```
public void handleTilt(boolean goingUp,
                       double tiltTolerance,
                       double tiltAdjustment)
```
    Method to set output ranges of piston controllers in response to an input of tilt adjustment. Will do nothing if the NavX is not connected!
    
    Parameters:
    
    goingUp - True if robot is climbing up and false if coming down
    
    tiltTolerance - The tolerance past which the robot is considered too unbalanced in either direction
    
    tiltAdjustment - The amount of adjustment desired for the robot
  - initDefaultCommand
```
public void initDefaultCommand()
```

Class Climber

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

PISTON_ENCODER_FLAT

PISTON_ENCODER_LEVEL_TWO

PISTON_ENCODER_LEVEL_THREE

MINIMUM_PISTON_POWER

MAXIMUM_PISTON_POWER

WINCH_DIAMETER

GEAR_RATIO

CLIMBER_TICKS_PER_ROTATION

DISTANCE_BETWEEN_FRONT_AND_BACK_PISTONS_IN_INCHES

Constructor Detail

Climber

Method Detail

drivePistons

setFrontPistonOutputRange

setBackPistonOutputRange

setFrontPIDControllerSetpoint

setBackPIDControllerSetpoint

getFrontTalonPositionInTicks

getBackTalonPositionInTicks

getFrontTalonPositionInInches

getBackTalonPositionInInches

getFrontPistonsRetracted

getBackPistonsRetracted

setFrontPistonsRetracted

setBackPistonsRetracted

getFrontPistonsRetractionInProgress

getBackPistonsRetractionInProgress

setFrontPistonsRetractionInProgress

setBackPistonsRetractionInProgress

getFrontControllerOnTarget

getBackControllerOnTarget

getPitchFromEncoders

convertPistonTicksToInches

enableClimberPIDControllers

handleTilt

initDefaultCommand