frc.team670.robot.subsystems.elbow

Class Elbow

java.lang.Object

Subsystem

frc.team670.robot.subsystems.RotatingSubsystem

frc.team670.robot.subsystems.elbow.BaseElbow

frc.team670.robot.subsystems.elbow.Elbow

All Implemented Interfaces:

ElbowInterface, TunableSubsystem

public class Elbow
extends BaseElbow

Controls motors for elbow movement

Field Summary

Fields

Modifier and Type	Field and Description
static int	FORWARD_LIMIT_SWITCH_TICKS
static int	FORWARD_SOFT_LIMIT
static double	MAX_ELBOW_OUTPUT
static int	REVERSE_LIMIT_SWITCH_TICKS
static int	REVERSE_SOFT_LIMIT

Constructor Summary

Constructors

Constructor and Description
Elbow()

Method Summary

Modifier and Type	Method and Description
double	getAngleInDegrees()
double	getForwardSoftLimitAngle()
double	getOutputCurrent() Returns the output current
double	getReverseSoftLimitAngle()
void	initDefaultCommand()
boolean	isForwardLimitPressed() Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position
boolean	isReverseLmitPressed()
void	sendDataToDashboard()
void	setClimbingCurrentLimit() Sets the current limit for when the robot begins to climb
void	setCurrentControl(int current) Sets the elbow to Current-based PID Control
void	setMotionMagicSetpointAngle(double elbowSetpointAngle) Sets the setpoint for motion magic (in ticks)
void	setNormalCurrentLimit() Resets the currnet limit to its normal value
void	setOutput(double output) Sets the output for the elbow motor
void	setQuadratureEncoder(double encoderValue) Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position)
void	updateArbitraryFeedForward() Updates the arbitrary feed forward on this subsystem

Methods inherited from class frc.team670.robot.subsystems.RotatingSubsystem

clearSetpoint, enableBrakeMode, enableCoastMode, getMotionMagicSetpoint, getTimeout, moveByPercentOutput, stop

Methods inherited from class java.lang.Object

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

Field Detail

REVERSE_SOFT_LIMIT

public static final int REVERSE_SOFT_LIMIT

See Also:

Constant Field Values

FORWARD_SOFT_LIMIT

public static final int FORWARD_SOFT_LIMIT

See Also:

Constant Field Values

MAX_ELBOW_OUTPUT

public static final double MAX_ELBOW_OUTPUT

See Also:

Constant Field Values

FORWARD_LIMIT_SWITCH_TICKS

public static final int FORWARD_LIMIT_SWITCH_TICKS

See Also:

Constant Field Values

REVERSE_LIMIT_SWITCH_TICKS

public static final int REVERSE_LIMIT_SWITCH_TICKS

See Also:

Constant Field Values

Constructor Detail

Elbow

public Elbow()

Method Detail

setOutput

public void setOutput(double output)

Description copied from interface: ElbowInterface

Sets the output for the elbow motor

Parameters:

output - the desired output

getOutputCurrent

public double getOutputCurrent()

Description copied from interface: ElbowInterface

Returns the output current

Returns:

the output current of the elbow motor

setClimbingCurrentLimit

public void setClimbingCurrentLimit()

Description copied from interface: ElbowInterface

Sets the current limit for when the robot begins to climb

setNormalCurrentLimit

public void setNormalCurrentLimit()

Description copied from interface: ElbowInterface

Resets the currnet limit to its normal value

getAngleInDegrees

public double getAngleInDegrees()

Specified by:

getAngleInDegrees in interface ElbowInterface

Specified by:

getAngleInDegrees in class RotatingSubsystem

initDefaultCommand

public void initDefaultCommand()

isForwardLimitPressed

public boolean isForwardLimitPressed()

Description copied from interface: ElbowInterface

Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position

Returns:

true if the forward limit switch is closed, false if open

isReverseLmitPressed

public boolean isReverseLmitPressed()

Returns:

true if the forward limit switch is closed, false if open

setQuadratureEncoder

public void setQuadratureEncoder(double encoderValue)

Description copied from interface: ElbowInterface

Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position)

setMotionMagicSetpointAngle

public void setMotionMagicSetpointAngle(double elbowSetpointAngle)

Description copied from class: RotatingSubsystem

Sets the setpoint for motion magic (in ticks)

Specified by:

setMotionMagicSetpointAngle in interface ElbowInterface

Specified by:

setMotionMagicSetpointAngle in class RotatingSubsystem

setCurrentControl

public void setCurrentControl(int current)

Description copied from interface: ElbowInterface

Sets the elbow to Current-based PID Control

Parameters:

current - The current to control to. Positive means it will move forward, negative will move reverse.

sendDataToDashboard

public void sendDataToDashboard()

getForwardSoftLimitAngle

public double getForwardSoftLimitAngle()

Specified by:

getForwardSoftLimitAngle in class BaseElbow

getReverseSoftLimitAngle

public double getReverseSoftLimitAngle()

Specified by:

getReverseSoftLimitAngle in class BaseElbow

updateArbitraryFeedForward

public void updateArbitraryFeedForward()

Description copied from class: RotatingSubsystem

Updates the arbitrary feed forward on this subsystem

Overrides:

updateArbitraryFeedForward in class RotatingSubsystem