design.md

Subsystems

Lift

Commands

• MoveToPosition
• Calibrate (optional)
• JoystickMovement
• MatchStart(optional)

Methods

• void setSpeedsPercent(double speed)
• void zeroEncoders()
• double getEncoders()
• boolean isAtUpperLimit()
• boolean isAtLowerLimit()

Cube Aquisition

Commands

• Lower
• Open
• Close
• Raise
• EjectCube
• PositionCube
• WaitForCube
• ToggleRaise
• ToggleButtons(not confirmed)

Methods

• void setspeedPercent(double, lspeed, double rspeed)
• void setRaised(boolean raised)
• boolean cubeDetected()
• boolean isOpen()
• void setPistonMode(pistonMode mode)
• PistonMode getPistonMode()
• boolean isRaised() (possibly)

Climbing

Commands

• ReleaseRight
• ReleaseLeft
• RaiseRight
• RaiseLeft

Methods

• boolean getLeftPosition()
• boolean getRightPosition()
• void setRightPosition(boolean position)
• void setLeftPosition(boolean position)

DriveTrain

Methods

• ControlMode getControllerDriveMode()
• DriveGear getCurrentGear()
• double getkD()
• double getkF()
• double getkI()
• double getkP()
• int getLeftEncPos()
• int getLeftEncVelocity()
• double etRampRate()
• int getRightEncPos()
• int getRightEncVelocity()
• double getRobotYaw()
• void zeroRobotYaw()
• void initDefaultCommand()
• boolean isNavXPresent()
• void setCurrentControlMode()
• void setCurrentGear(DriveTrain.DriveGear gear)
• void setPID(double p, double i, double d, double f)
• void setRampRate(double rampRate)
• void setSpeedPercent(double lspeed, double rspeed)
• void setSpeedRaw(double lspeed, double rspeed)

Commands

• JoystickDrive