Reefscape2025/frc.robot.subsystems/AlgaeManipulator

AlgaeManipulator

public class AlgaeManipulator extends SubsystemBase

The PivotSubsystem class is a subsystem that interfaces with the arm system to provide control over the arm motors. This subsystem is a Singleton, meaning that only one instance of this class is created and shared across the entire robot code.

Functions

getInstance

public static AlgaeManipulator getInstance()

Returns the Singleton instance of this PivotSubsystem.

getPivotPosValue

public double getPivotPosValue()

Get the position of the end effector motor

initializeAlarms

public void initializeAlarms()

moveArm

public void moveArm(double velocity)

Move the end effector motor based on the velocity

periodic

public void periodic()

resetEncoders

public void resetEncoders()

Soft resets the encoders on the end effector motors

stopMotor

public void stopMotor()

Stops the arm motor

toggleSoftStop

public void toggleSoftStop()

Toggles the soft stop for the end effector motor