All 2025 code should be documented and explained in this page, file by file.
Use the table of contents on the right to move from method to method.
When creating sections, please be sure to detail what every (non-commented) method does and feel free to explain why certain methods are commented if necessary.

Subroutines

AlgaeArm.java

Controls the robot arm used to knock off algae. Uses a Spark Flex motor with ID 9 and two limit switches (bottom and top) on channels 4 and 5 respectively. Operated by the right joystick of the operator controller.

Initial()

Calls the (potentially poorly named) initialize method from SparkConfigure.java.

getArmBottomLS() method

Returns the value (boolean) of the limit switch for the bottom of the arm. This is "normally open," meaning code is executed when the switch is actuated and the circuit is closed.

getArmTopLS()

Same as above but for the LS at the peak of the arm's reach

SetSpeed(double speed)

Sets the speed of the algae arm based on the value (speed) passed into the method from Robot.java. It is halved and negated to account for the xbox controller and to make the arm less sensitive. The speed value is from 0 to 1.

AlgaeWheel.java

Controls the wheels on the algae arm used for rolling the algae out of the reef and for picking up the algae by squeezing it. Uses a Spark Flex motor with ID 10. The relative encoder and limit switch (named LS_elevator) are unused. Operated by the A and B button of the operator controller.

Initial()

Calls the initialize method from SparkConfigure.java

SetSpeed (double speed)

Sets the speed of the wheel based on the value (speed) passed into the method from Robot.java. The speed value is from 0 to 1.

getEncoder()

Gets the position value of the algae wheel motor's encoder. This method is currently unused.