frc.team670.robot.subsystems.elbow

Interface ElbowInterface

All Known Implementing Classes:

BaseElbow, Elbow

public interface ElbowInterface

Allows for using an Elbow for unit testing

Method Summary

Modifier and Type	Method and Description
double	getAngleInDegrees()
double	getOutputCurrent() Returns the output current
boolean	isForwardLimitPressed() Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position
boolean	isReverseLmitPressed()
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)
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)

Method Detail

setMotionMagicSetpointAngle

void setMotionMagicSetpointAngle(double elbowSetpointAngle)

getAngleInDegrees

double getAngleInDegrees()

setOutput

void setOutput(double output)

Sets the output for the elbow motor

Parameters:

output - the desired output

getOutputCurrent

double getOutputCurrent()

Returns the output current

Returns:

the output current of the elbow motor

setClimbingCurrentLimit

void setClimbingCurrentLimit()

Sets the current limit for when the robot begins to climb

setNormalCurrentLimit

void setNormalCurrentLimit()

Resets the currnet limit to its normal value

isForwardLimitPressed

boolean isForwardLimitPressed()

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

boolean isReverseLmitPressed()

Returns:

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

setQuadratureEncoder

void setQuadratureEncoder(double encoderValue)

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

setCurrentControl

void setCurrentControl(int current)

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.