Extension

java.lang.Object
- Subsystem
- - frc.team670.robot.subsystems.extension.BaseExtension
  - - frc.team670.robot.subsystems.extension.Extension

All Implemented Interfaces:

ExtensionInterface, TunableSubsystem
```
public class Extension
extends BaseExtension
```
Controls motors for motion of extension

Field Summary

Fields
Modifier and Type	Field and Description
`static double`	`ARBITRARY_FEEDFORWARD_CONSTANT`
`static int`	`EXTENSION_IN_POS`
`static double`	`EXTENSION_OUT_IN_INCHES`
`static int`	`EXTENSION_OUT_POS`
`static double`	`FIXED_LENGTH`
`static int`	`FORWARD_SOFT_LIMIT`
`static double`	`MAX_EXTENSION_OUTPUT`
`static double`	`MOTOR_ROTATIONS_PER_INCH`
`static int`	`QUAD_ENCODER_MAX`
`static int`	`QUAD_ENCODER_MIN`
`static int`	`REVERSE_SOFT_LIMIT`
`static double`	`TICKS_PER_MOTOR_ROTATION`

Constructor Summary

Constructors
Constructor and Description

Extension()

Constructors
Constructor and Description
`Extension()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`disableCurrentLimit()`
`void`	`enableBrakeMode()`
`void`	`enableCoastMode()`
`void`	`enableCurrentLimit()`
`void`	`enableExtensionPIDController()` Enables the PID Controller for extension
`double`	`getArbitraryFeedForwardAngleMultiplier()`
`boolean`	`getForwardLimitSwitchTripped()`
`double`	`getForwardSoftLimitInInches()`
`double`	`getLengthInches()` Gets the current Extension length in absolute ticks with 0 at no extension.
`int`	`getLengthTicks()`
`double`	`getMotionMagicSetpoint()`
`boolean`	`getReverseLimitSwitchTripped()`
`double`	`getReverseSoftLimitInInches()`
`boolean`	`getTimeout()`
`void`	`initDefaultCommand()`
`boolean`	`isForwardLimitPressed()`
`boolean`	`isReverseLimitPressed()`
`void`	`moveByPercentOutput(double output)` Moves the Subsystem using percent outpu
`void`	`resetLimitSwitch()`
`void`	`sendDataToDashboard()`
`void`	`setCurrentLimit(int current)` Sets the peak current limit for the elbow motor.
`void`	`setMotionMagicSetpointInInches(double extensionSetpointInInches)` Setup for movement and Motion Magic
`void`	`setOutput(double output)`
`void`	`setPIDControllerSetpointInInches(double setpointInInches)` Modifies the setpoint for the PID Controller
`void`	`setQuadratureEncoder(double encoderValue)` Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position)
`void`	`stop()` Enables percent output to shut off other movement of the Subsystem (note this means it will stop holding itself up).
`void`	`updateArbitraryFeedForward()` Updates the arbitrary feed forward on this subsystem
`void`	`warnifLimitHit()`

Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

- Field Detail
  - TICKS_PER_MOTOR_ROTATION
```
public static final double TICKS_PER_MOTOR_ROTATION
```
    See Also:
    
    Constant Field Values
  - MOTOR_ROTATIONS_PER_INCH
```
public static final double MOTOR_ROTATIONS_PER_INCH
```
    See Also:
    
    Constant Field Values
  - EXTENSION_IN_POS
```
public static final int EXTENSION_IN_POS
```
    See Also:
    
    Constant Field Values
  - EXTENSION_OUT_POS
```
public static final int EXTENSION_OUT_POS
```
    See Also:
    
    Constant Field Values
  - EXTENSION_OUT_IN_INCHES
```
public static final double EXTENSION_OUT_IN_INCHES
```
    See Also:
    
    Constant Field Values
  - FIXED_LENGTH
```
public static final double FIXED_LENGTH
```
    See Also:
    
    Constant Field Values
  - FORWARD_SOFT_LIMIT
```
public static final int FORWARD_SOFT_LIMIT
```
    See Also:
    
    Constant Field Values
  - REVERSE_SOFT_LIMIT
```
public static final int REVERSE_SOFT_LIMIT
```
    See Also:
    
    Constant Field Values
  - QUAD_ENCODER_MAX
```
public static final int QUAD_ENCODER_MAX
```
    See Also:
    
    Constant Field Values
  - QUAD_ENCODER_MIN
```
public static final int QUAD_ENCODER_MIN
```
    See Also:
    
    Constant Field Values
  - ARBITRARY_FEEDFORWARD_CONSTANT
```
public static final double ARBITRARY_FEEDFORWARD_CONSTANT
```
    See Also:
    
    Constant Field Values
  - MAX_EXTENSION_OUTPUT
```
public static final double MAX_EXTENSION_OUTPUT
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Extension
```
public Extension()
```
- Method Detail
  - setCurrentLimit
```
public void setCurrentLimit(int current)
```
    Description copied from interface: ExtensionInterface
    
    Sets the peak current limit for the elbow motor.
    
    Parameters:
    
    current - Current in amps
  - enableCurrentLimit
```
public void enableCurrentLimit()
```
  - enableCoastMode
```
public void enableCoastMode()
```
    Specified by:
    
    enableCoastMode in class BaseExtension
  - enableBrakeMode
```
public void enableBrakeMode()
```
    Specified by:
    
    enableBrakeMode in class BaseExtension
  - disableCurrentLimit
```
public void disableCurrentLimit()
```
  - setOutput
```
public void setOutput(double output)
```
  - getLengthTicks
```
public int getLengthTicks()
```
  - getLengthInches
```
public double getLengthInches()
```
    Description copied from interface: ExtensionInterface
    
    Gets the current Extension length in absolute ticks with 0 at no extension.
  - enableExtensionPIDController
```
public void enableExtensionPIDController()
```
    Description copied from interface: ExtensionInterface
    
    Enables the PID Controller for extension
  - setPIDControllerSetpointInInches
```
public void setPIDControllerSetpointInInches(double setpointInInches)
```
    Description copied from interface: ExtensionInterface
    
    Modifies the setpoint for the PID Controller
  - initDefaultCommand
```
public void initDefaultCommand()
```
    Specified by:
    
    initDefaultCommand in interface ExtensionInterface
    
    Overrides:
    
    initDefaultCommand in class BaseExtension
  - isReverseLimitPressed
```
public boolean isReverseLimitPressed()
```
  - isForwardLimitPressed
```
public boolean isForwardLimitPressed()
```
    Returns:
    
    true if forward limit switch closed, false if not
  - setQuadratureEncoder
```
public void setQuadratureEncoder(double encoderValue)
```
    Description copied from interface: ExtensionInterface
    
    Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position)
  - setMotionMagicSetpointInInches
```
public void setMotionMagicSetpointInInches(double extensionSetpointInInches)
```
    Description copied from interface: ExtensionInterface
    
    Setup for movement and Motion Magic
  - getMotionMagicSetpoint
```
public double getMotionMagicSetpoint()
```
    Specified by:
    
    getMotionMagicSetpoint in class BaseExtension
  - updateArbitraryFeedForward
```
public void updateArbitraryFeedForward()
```
    Updates the arbitrary feed forward on this subsystem
  - warnifLimitHit
```
public void warnifLimitHit()
```
    Specified by:
    
    warnifLimitHit in class BaseExtension
  - getArbitraryFeedForwardAngleMultiplier
```
public double getArbitraryFeedForwardAngleMultiplier()
```
    Specified by:
    
    getArbitraryFeedForwardAngleMultiplier in class BaseExtension
  - getForwardSoftLimitInInches
```
public double getForwardSoftLimitInInches()
```
    Specified by:
    
    getForwardSoftLimitInInches in class BaseExtension
  - getReverseSoftLimitInInches
```
public double getReverseSoftLimitInInches()
```
    Specified by:
    
    getReverseSoftLimitInInches in class BaseExtension
  - getTimeout
```
public boolean getTimeout()
```
  - stop
```
public void stop()
```
    Description copied from interface: TunableSubsystem
    
    Enables percent output to shut off other movement of the Subsystem (note this means it will stop holding itself up).
  - moveByPercentOutput
```
public void moveByPercentOutput(double output)
```
    Description copied from interface: TunableSubsystem
    
    Moves the Subsystem using percent outpu
  - sendDataToDashboard
```
public void sendDataToDashboard()
```
  - getReverseLimitSwitchTripped
```
public boolean getReverseLimitSwitchTripped()
```
    Specified by:
    
    getReverseLimitSwitchTripped in class BaseExtension
  - getForwardLimitSwitchTripped
```
public boolean getForwardLimitSwitchTripped()
```
    Specified by:
    
    getForwardLimitSwitchTripped in class BaseExtension
  - resetLimitSwitch
```
public void resetLimitSwitch()
```
    Specified by:
    
    resetLimitSwitch in class BaseExtension

Class Extension

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Detail

TICKS_PER_MOTOR_ROTATION

MOTOR_ROTATIONS_PER_INCH

EXTENSION_IN_POS

EXTENSION_OUT_POS

EXTENSION_OUT_IN_INCHES

FIXED_LENGTH

FORWARD_SOFT_LIMIT

REVERSE_SOFT_LIMIT

QUAD_ENCODER_MAX

QUAD_ENCODER_MIN

ARBITRARY_FEEDFORWARD_CONSTANT

MAX_EXTENSION_OUTPUT

Constructor Detail

Extension

Method Detail

setCurrentLimit

enableCurrentLimit

enableCoastMode

enableBrakeMode

disableCurrentLimit

setOutput

getLengthTicks

getLengthInches

enableExtensionPIDController

setPIDControllerSetpointInInches

initDefaultCommand

isReverseLimitPressed

isForwardLimitPressed

setQuadratureEncoder

setMotionMagicSetpointInInches

getMotionMagicSetpoint

updateArbitraryFeedForward

warnifLimitHit

getArbitraryFeedForwardAngleMultiplier

getForwardSoftLimitInInches

getReverseSoftLimitInInches

getTimeout

stop

moveByPercentOutput

sendDataToDashboard

getReverseLimitSwitchTripped

getForwardLimitSwitchTripped

resetLimitSwitch