Wrist

java.lang.Object
- Subsystem
- - frc.team670.robot.subsystems.RotatingSubsystem
  - - frc.team670.robot.subsystems.wrist.BaseWrist
    - - frc.team670.robot.subsystems.wrist.Wrist

All Implemented Interfaces:

TunableSubsystem, WristInterface
```
public class Wrist
extends BaseWrist
```
Controls wrist motors

Field Summary

Fields
Modifier and Type	Field and Description
`static int`	`CLOSED_LOOP_ALLOWABLE_ERROR`
`static int`	`FORWARD_SOFT_LIMIT`
`static double`	`MAX_WRIST_OUTPUT`
`static int`	`QUAD_ENCODER_MAX`
`static int`	`QUAD_ENCODER_MIN`
`static int`	`REVERSE_SOFT_LIMIT`
`static int`	`TICKS_PER_ROTATION`

Constructor Summary

Constructors
Constructor and Description

Wrist()

Constructors
Constructor and Description
`Wrist()`

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method and Description
`void`	`disableCurrentLimit()`
`void`	`enableCurrentLimit()`
`double`	`getAngleInDegrees()`
`double`	`getArbitraryFeedForwardAngleMultiplier()` Gets the multiplier for updating the arbitrary feed forward based on angle and subsystem
`double`	`getForwardSoftLimitAngle()`
`double`	`getReverseSoftLimitAngle()`
`int`	`getWristPulseWidth()`
`void`	`initDefaultCommand()`
`boolean`	`isForwardLimitPressed()`
`boolean`	`isReverseLimitPressed()`
`void`	`sendDataToDashboard()`
`void`	`setMotionMagicSetpointAngle(double angle)` Sets the setpoint for motion magic (in ticks)
`void`	`setOutput(double output)`
`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
  - 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
  - CLOSED_LOOP_ALLOWABLE_ERROR
```
public static final int CLOSED_LOOP_ALLOWABLE_ERROR
```
    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
  - MAX_WRIST_OUTPUT
```
public static final double MAX_WRIST_OUTPUT
```
    See Also:
    
    Constant Field Values
  - TICKS_PER_ROTATION
```
public static final int TICKS_PER_ROTATION
```
    See Also:
    
    Constant Field Values
- Constructor Detail
  - Wrist
```
public Wrist()
```
- Method Detail
  - enableCurrentLimit
```
public void enableCurrentLimit()
```
  - disableCurrentLimit
```
public void disableCurrentLimit()
```
  - setOutput
```
public void setOutput(double output)
```
  - getAngleInDegrees
```
public double getAngleInDegrees()
```
    Specified by:
    
    getAngleInDegrees in interface WristInterface
    
    Specified by:
    
    getAngleInDegrees in class RotatingSubsystem
  - initDefaultCommand
```
public void initDefaultCommand()
```
    Specified by:
    
    initDefaultCommand in interface WristInterface
    
    Overrides:
    
    initDefaultCommand in class BaseWrist
  - isForwardLimitPressed
```
public boolean isForwardLimitPressed()
```
    Returns:
    
    true if the forward limit switch is closed, false if open
  - isReverseLimitPressed
```
public boolean isReverseLimitPressed()
```
    Returns:
    
    true if the forward limit switch is closed, false if open
  - setQuadratureEncoder
```
public void setQuadratureEncoder(double encoderValue)
```
    Description copied from interface: WristInterface
    
    Sets the SensorCollection encoder value to encoderValue (use this to reset the encoder when at a known position)
  - getArbitraryFeedForwardAngleMultiplier
```
public double getArbitraryFeedForwardAngleMultiplier()
```
    Description copied from class: RotatingSubsystem
    
    Gets the multiplier for updating the arbitrary feed forward based on angle and subsystem
  - getWristPulseWidth
```
public int getWristPulseWidth()
```
  - getForwardSoftLimitAngle
```
public double getForwardSoftLimitAngle()
```
    Specified by:
    
    getForwardSoftLimitAngle in class BaseWrist
  - getReverseSoftLimitAngle
```
public double getReverseSoftLimitAngle()
```
    Specified by:
    
    getReverseSoftLimitAngle in class BaseWrist
  - sendDataToDashboard
```
public void sendDataToDashboard()
```
  - updateArbitraryFeedForward
```
public void updateArbitraryFeedForward()
```
    Updates the arbitrary feed forward on this subsystem
    
    Overrides:
    
    updateArbitraryFeedForward in class RotatingSubsystem
  - setMotionMagicSetpointAngle
```
public void setMotionMagicSetpointAngle(double angle)
```
    Description copied from class: RotatingSubsystem
    
    Sets the setpoint for motion magic (in ticks)
    
    Specified by:
    
    setMotionMagicSetpointAngle in class RotatingSubsystem

Class Wrist

Field Summary

Constructor Summary

Method Summary

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

Methods inherited from class java.lang.Object

Field Detail

FORWARD_SOFT_LIMIT

REVERSE_SOFT_LIMIT

CLOSED_LOOP_ALLOWABLE_ERROR

QUAD_ENCODER_MAX

QUAD_ENCODER_MIN

MAX_WRIST_OUTPUT

TICKS_PER_ROTATION

Constructor Detail

Wrist

Method Detail

enableCurrentLimit

disableCurrentLimit

setOutput

getAngleInDegrees

initDefaultCommand

isForwardLimitPressed

isReverseLimitPressed

setQuadratureEncoder

getArbitraryFeedForwardAngleMultiplier

getWristPulseWidth

getForwardSoftLimitAngle

getReverseSoftLimitAngle

sendDataToDashboard

updateArbitraryFeedForward

setMotionMagicSetpointAngle