Package frc.robot.climb

Class Climb.ClimbConfig

java.lang.Object

frc.spectrumLib.mechanism.Mechanism.Config

frc.robot.climb.Climb.ClimbConfig

Enclosing class:

Climb

public static class Climb.ClimbConfig
extends Mechanism.Config

Field Summary

Fields inherited from class frc.spectrumLib.mechanism.Mechanism.Config

talonConfig

Constructor Summary

Constructors

Constructor	Description
ClimbConfig()

Method Summary

Modifier and Type	Method	Description
double	getAlgaeFloorIntake()
double	getClimbX()
double	getClimbY()
double	getCoralFloorIntake()
double	getCurrentLimit()
double	getFinishClimb()
double	getHoldMaxSpeedRPM()
double	getHome()
double	getIntake()
double	getLatchClosed()
double	getLatchOpen()
double	getLength()
double	getMaxRotations()
double	getMinRotations()
double	getMmAcceleration()
double	getMmCruiseVelocity()
double	getMmJerk()
double	getOffsetConstant()
double	getPositionKa()
double	getPositionKd()
double	getPositionKg()
double	getPositionKp()
double	getPositionKs()
double	getPositionKv()
double	getPrepClimber()
double	getProcessorScore()
double	getSimRatio()
double	getTorqueCurrentLimit()
double	getZeroSpeed()
Climb.ClimbConfig	modifyMotorConfig(com.ctre.phoenix6.hardware.TalonFX motor)
Climb.ClimbConfig	setSimRatio(double simRatio)

Methods inherited from class frc.spectrumLib.mechanism.Mechanism.Config

applyTalonConfig, configClockwise_Positive, configContinuousWrap, configCounterClockwise_Positive, configFeedbackSensorSource, configFeedbackSensorSource, configFeedForwardGains, configFeedForwardGains, configForwardSoftLimit, configForwardTorqueCurrentLimit, configGearRatio, configGravityType, configGravityType, configMinMaxRotations, configMotionMagic, configMotionMagicPosition, configMotionMagicVelocity, configNeutralBrakeMode, configNeutralDeadband, configPeakOutput, configPIDGains, configPIDGains, configReverseSoftLimit, configReverseTorqueCurrentLimit, configStatorCurrentLimit, configSupplyCurrentLimit, configVoltageCompensation, getDynamicMMPositionFOC, getFollowerConfigs, getGearRatio, getId, getMmPositionFOC, getMmPositionVoltage, getMmPositionVoltageSlot, getMmVelocityFOC, getMmVelocityVoltage, getName, getNumMotors, getPercentOutput, getTalonConfig, getTorqueCurrentFOC, getVelocityControl, getVelocityTorqueCurrentFOC, getVoltageCompSaturation, getVoltageControl, isAttached, setAttached, setFollowerConfigs, setTalonConfig

Methods inherited from class java.lang.Object

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

Constructor Details

ClimbConfig

public ClimbConfig()

Method Details

modifyMotorConfig

public Climb.ClimbConfig modifyMotorConfig(com.ctre.phoenix6.hardware.TalonFX motor)

getMaxRotations

public double getMaxRotations()

Overrides:

getMaxRotations in class Mechanism.Config

getMinRotations

public double getMinRotations()

Overrides:

getMinRotations in class Mechanism.Config

getHome

public double getHome()

getIntake

public double getIntake()

getAlgaeFloorIntake

public double getAlgaeFloorIntake()

getPrepClimber

public double getPrepClimber()

getFinishClimb

public double getFinishClimb()

getCoralFloorIntake

public double getCoralFloorIntake()

getProcessorScore

public double getProcessorScore()

getLatchOpen

public double getLatchOpen()

getLatchClosed

public double getLatchClosed()

getOffsetConstant

public double getOffsetConstant()

getZeroSpeed

public double getZeroSpeed()

getHoldMaxSpeedRPM

public double getHoldMaxSpeedRPM()

getCurrentLimit

public double getCurrentLimit()

getTorqueCurrentLimit

public double getTorqueCurrentLimit()

getPositionKp

public double getPositionKp()

getPositionKd

public double getPositionKd()

getPositionKv

public double getPositionKv()

getPositionKs

public double getPositionKs()

getPositionKa

public double getPositionKa()

getPositionKg

public double getPositionKg()

getMmCruiseVelocity

public double getMmCruiseVelocity()

getMmAcceleration

public double getMmAcceleration()

getMmJerk

public double getMmJerk()

getClimbX

public double getClimbX()

getClimbY

public double getClimbY()

getSimRatio

public double getSimRatio()

setSimRatio

public Climb.ClimbConfig setSimRatio(double simRatio)

Returns:

this.

getLength

public double getLength()