frc.team670.robot.subsystems.wrist

Class BaseWrist

java.lang.Object

Subsystem

frc.team670.robot.subsystems.RotatingSubsystem

frc.team670.robot.subsystems.wrist.BaseWrist

All Implemented Interfaces:

TunableSubsystem, WristInterface

Direct Known Subclasses:

Wrist

public abstract class BaseWrist
extends RotatingSubsystem
implements WristInterface

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Constructor Summary

Constructors

Constructor and Description
BaseWrist(TalonSRX rotatorTalon, double arbitrary_feedforward_constant, int forward_soft_limit, int reverse_soft_limit, boolean timeout, int QUAD_ENCODER_MIN, int QUAD_ENCODER_MAX, int CONTINUOUS_CURRENT_LIMIT, int PEAK_CURRENT_LIMIT, int offsetFromEncoderZero)

Method Summary

Modifier and Type	Method and Description
abstract double	getForwardSoftLimitAngle()
abstract double	getReverseSoftLimitAngle()
void	initDefaultCommand()

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

clearSetpoint, enableBrakeMode, enableCoastMode, getAngleInDegrees, getMotionMagicSetpoint, getTimeout, moveByPercentOutput, setMotionMagicSetpointAngle, stop, updateArbitraryFeedForward

Methods inherited from class java.lang.Object

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

Methods inherited from interface frc.team670.robot.subsystems.wrist.WristInterface

disableCurrentLimit, enableCurrentLimit, getAngleInDegrees, isForwardLimitPressed, isReverseLimitPressed, setOutput, setQuadratureEncoder

Constructor Detail

BaseWrist

public BaseWrist(TalonSRX rotatorTalon,
                 double arbitrary_feedforward_constant,
                 int forward_soft_limit,
                 int reverse_soft_limit,
                 boolean timeout,
                 int QUAD_ENCODER_MIN,
                 int QUAD_ENCODER_MAX,
                 int CONTINUOUS_CURRENT_LIMIT,
                 int PEAK_CURRENT_LIMIT,
                 int offsetFromEncoderZero)

Method Detail

getForwardSoftLimitAngle

public abstract double getForwardSoftLimitAngle()

getReverseSoftLimitAngle

public abstract double getReverseSoftLimitAngle()

initDefaultCommand

public void initDefaultCommand()

Specified by:

initDefaultCommand in interface WristInterface