Package frc.robot.subsystems.indexer

Class IndexerSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.shared.subsystems.AbstractSubsystem<TConfig>

frc.robot.shared.subsystems.AbstractMotorSubsystem<TConfig>

frc.robot.shared.subsystems.AbstractVelocitySubsystem<IndexerSubsystemConfig>

frc.robot.subsystems.indexer.IndexerSubsystem

All Implemented Interfaces:

edu.wpi.first.util.sendable.Sendable, edu.wpi.first.wpilibj2.command.Subsystem

public class IndexerSubsystem
extends AbstractVelocitySubsystem<IndexerSubsystemConfig>

Indexer subsystem that controls when Fuel leaves the robot and enters the shooter.

The indexer sits directly upstream of the shooter and downstream of the feeder. It can spin forward to feed Fuel into the shooter flywheels, or reverse to back Fuel toward the feeder. All RPM values in the public API represent roller (mechanism) speed after gear reduction, not motor shaft speed.

The subsystem extends AbstractVelocitySubsystem which provides bidirectional velocity control. Positive RPM feeds forward (toward the shooter); negative RPM feeds backward (toward the feeder).

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.subsystems.AbstractVelocitySubsystem

AbstractVelocitySubsystem.TriFunction<A,B,C,R>

Field Summary

Fields inherited from class frc.robot.shared.subsystems.AbstractVelocitySubsystem

controller

Fields inherited from class frc.robot.shared.subsystems.AbstractMotorSubsystem

feedforward, motor, motorInputs

Fields inherited from class frc.robot.shared.subsystems.AbstractSubsystem

className, config, enabled, kDt, log, verbose

Constructor Summary

Constructors

Constructor	Description
IndexerSubsystem(IndexerSubsystemConfig config)	Builds the indexer subsystem with a single SparkMax-driven roller motor.

Method Summary

Modifier and Type	Method	Description
boolean	isFeeding()	Returns true when the indexer is being commanded to feed forward toward the shooter.
void	setFeedVelocity()	Convenience method that sets the roller to the configured default feed velocity.
void	setReverseVelocity()	Convenience method that sets the roller to reverse at the configured reverse velocity.

Methods inherited from class frc.robot.shared.subsystems.AbstractVelocitySubsystem

buildVelocityMotor, getIdleVelocityRpm, getMeasuredVelocityRpm, getTargetVelocityRpm, isAtTargetVelocity, isReady, isWithinTolerance, periodic, seekVelocity, setTargetVelocityRpm, stop

Methods inherited from class frc.robot.shared.subsystems.AbstractMotorSubsystem

applyVoltage, getMeasuredPositionRadians, getMeasuredVelocityRadiansPerSecond, getSysIdRoutine, logSysIdEnd, logSysIdInterrupted, logSysIdStart, refreshFeedforward, updateAndLogMotorInputs

Methods inherited from class frc.robot.shared.subsystems.AbstractSubsystem

getConfig, isFMSAttached, isSimulation, isSubsystemDisabled, isVerbose, isVerboseLoggingEnabled, logDisabled, reportWarning

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Constructor Details

IndexerSubsystem

public IndexerSubsystem(IndexerSubsystemConfig config)

Builds the indexer subsystem with a single SparkMax-driven roller motor.

Parameters:

config - indexer configuration bundle loaded from JSON; velocities are expressed in RPM

Method Details

setReverseVelocity

public void setReverseVelocity()

Convenience method that sets the roller to reverse at the configured reverse velocity.

The configured reverse RPM is stored as a positive value; this method negates it so the roller spins backward toward the feeder.

setFeedVelocity

public void setFeedVelocity()

Convenience method that sets the roller to the configured default feed velocity.

isFeeding

public boolean isFeeding()

Returns true when the indexer is being commanded to feed forward toward the shooter.

This checks whether the current velocity setpoint is positive (forward direction), indicating the system intends to push a ball into the shooter. Used by the ball flight simulator to detect when a ball enters the shooter.

Returns:

true when the indexer's setpoint velocity is positive (feeding forward)