Subsystems of our 2025 code:

These are the subsystems that can be called in our code. someone please help me with verifying accuracy

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CANRangeSubSystem

-commented out

ElevatorSubsystem

• setGoal(double goal) - sets the goal value of the elevator
• getGoal() - returns a double goal value
• driveToGoal() - turns the motors using PID and FeedForward to reach the goal
• getElevatorPositionMeters() - returns position in meters
• getElevatorPositionRaw() - returns position in rotations
• resetPID() - resets elevator pid
• simpleDrive(double input) - drives elevator using raw motor values
• stop() - stops elevator
• resetEncoder() - resets encoder
• elevatorAtGoal() - returns true if at goal

FrontIntakeSubsystem

• setGoal(double goal) - sets the goal value of FrontIntake
• getGoal() - returns a double goal value
• driveToGoal() - turns the motors using PID and FeedForward to reach the goal
• setFront(double volt) - sets front intake to volts passed in
• resetPID() - resets FRont Intake pid
• simpleintakeDrive(double input) - drives Front Intake using raw motor values
• getPosition() - returns position in degrees
• controllerAtGoal() - returns true if at goal

LEDCANdle

• setColor(int r, int g, int b) - sets led strip to rgb colors
• setError() - sets led strip to error status There are more color specific functions that would be too repetitive to list here

PhotonVisionSubsystem

• getCameras() - returns all cameras
• getResults() - returns all results
• getBestResult() - returns best result

swerve

timer

--unused

SparkMaxWristSubsytem

• setGoal(double goal) - sets the goal value of the wrist
• getGoalPosition() - returns a double goal value
• driveToGoal() - turns the motors using PID and FeedForward to reach the goal
• simpleDrive(double input) - drives wrist using raw motor values
• getWristPosition() - returns position in degrees
• wristAtGoal() - returns true if at goal
• resetPID() - resets elevator pid
• stop() - stops elevator

WristIntakeSubsystem

• simpleDrive(boolean reversed, double speed) - manually set wrist intake speed and reversed status
• intakeCoral() - intakes coral
• ejectCoral() - ejects coral

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