frc.team670.robot.subsystems.extension

Interface ExtensionInterface

All Known Implementing Classes:

BaseExtension, Extension

public interface ExtensionInterface

Method Summary

Modifier and Type	Method and Description
void	disableCurrentLimit()
void	enableCurrentLimit()
void	enableExtensionPIDController() Enables the PID Controller for extension
double	getLengthInches() Gets the current Extension length in absolute ticks with 0 at no extension.
int	getLengthTicks()
void	initDefaultCommand()
boolean	isForwardLimitPressed()
boolean	isReverseLimitPressed()
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)

Method Detail

setCurrentLimit

void setCurrentLimit(int current)

Sets the peak current limit for the elbow motor.

Parameters:

current - Current in amps

enableCurrentLimit

void enableCurrentLimit()

disableCurrentLimit

void disableCurrentLimit()

setOutput

void setOutput(double output)

getLengthInches

double getLengthInches()

Gets the current Extension length in absolute ticks with 0 at no extension.

enableExtensionPIDController

void enableExtensionPIDController()

Enables the PID Controller for extension

setPIDControllerSetpointInInches

void setPIDControllerSetpointInInches(double setpointInInches)

Modifies the setpoint for the PID Controller

initDefaultCommand

void initDefaultCommand()

isReverseLimitPressed

boolean isReverseLimitPressed()

getLengthTicks

int getLengthTicks()

isForwardLimitPressed

boolean isForwardLimitPressed()

Returns:

true if forward limit switch closed, false if not

setQuadratureEncoder

void setQuadratureEncoder(double encoderValue)

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

setMotionMagicSetpointInInches

void setMotionMagicSetpointInInches(double extensionSetpointInInches)

Setup for movement and Motion Magic