frc.team670.robot.subsystems

Class RotatingSubsystem

java.lang.Object

Subsystem

frc.team670.robot.subsystems.RotatingSubsystem

All Implemented Interfaces:

TunableSubsystem

Direct Known Subclasses:

BaseElbow, BaseIntake, BaseWrist

public abstract class RotatingSubsystem
extends Subsystem
implements TunableSubsystem

Superclass for intake, elbow, wrist, and extension

Constructor Summary

Constructors

Constructor and Description
RotatingSubsystem(TalonSRX rotatorTalon, double arbitraryFeedForwardConstant, int forwardSoftLimit, int reverseSoftLimit, boolean timeout, int quadEncoderMin, int quadEncoderMax, int continuousCurrentLimit, int peakCurrentLimit, int offsetFromEncoderZero)

Method Summary

Modifier and Type	Method and Description
void	clearSetpoint() Removes the setpoint for the talon on this subsystem
void	enableBrakeMode()
void	enableCoastMode()
abstract double	getAngleInDegrees()
double	getMotionMagicSetpoint()
boolean	getTimeout() Gets the boolean to decide whether or not to pulse or stall the motor
void	moveByPercentOutput(double output) Rotates the talon at a certain percent output
abstract void	setMotionMagicSetpointAngle(double angle) Sets the setpoint for motion magic (in ticks)
void	stop() Puts the main talon in percent output mode
void	updateArbitraryFeedForward() Updates the arbitrary feed forward on this subsystem

Methods inherited from class java.lang.Object

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

Constructor Detail

RotatingSubsystem

public RotatingSubsystem(TalonSRX rotatorTalon,
                         double arbitraryFeedForwardConstant,
                         int forwardSoftLimit,
                         int reverseSoftLimit,
                         boolean timeout,
                         int quadEncoderMin,
                         int quadEncoderMax,
                         int continuousCurrentLimit,
                         int peakCurrentLimit,
                         int offsetFromEncoderZero)

Method Detail

getTimeout

public boolean getTimeout()

Gets the boolean to decide whether or not to pulse or stall the motor

Specified by:

getTimeout in interface TunableSubsystem

enableCoastMode

public void enableCoastMode()

enableBrakeMode

public void enableBrakeMode()

stop

public void stop()

Puts the main talon in percent output mode

Specified by:

stop in interface TunableSubsystem

clearSetpoint

public void clearSetpoint()

Removes the setpoint for the talon on this subsystem

moveByPercentOutput

public void moveByPercentOutput(double output)

Rotates the talon at a certain percent output

Specified by:

moveByPercentOutput in interface TunableSubsystem

updateArbitraryFeedForward

public void updateArbitraryFeedForward()

Updates the arbitrary feed forward on this subsystem

getMotionMagicSetpoint

public double getMotionMagicSetpoint()

setMotionMagicSetpointAngle

public abstract void setMotionMagicSetpointAngle(double angle)

Sets the setpoint for motion magic (in ticks)

getAngleInDegrees

public abstract double getAngleInDegrees()