Package frc.robot.twist

Class Twist.TwistConfig

java.lang.Object
frc.spectrumLib.mechanism.Mechanism.Config
frc.robot.twist.Twist.TwistConfig
Enclosing class:
Twist
public static class Twist.TwistConfig extends Mechanism.Config

  • Constructor Details

    • TwistConfig

      public TwistConfig()

  • Method Details

    • modifyMotorConfig

      public Twist.TwistConfig modifyMotorConfig(com.ctre.phoenix6.hardware.TalonFX motor)

    • isReversed

      public boolean isReversed()

    • setReversed

      public Twist.TwistConfig setReversed(boolean reversed)
      Returns:
      this.

    • getInitializedPosition

      public int getInitializedPosition()

    • getStageDelay

      public double getStageDelay()

    • getHome

      public double getHome()

    • getLollipopCoral

      public double getLollipopCoral()

    • getStationIntake

      public double getStationIntake()

    • getAlgaeIntake

      public double getAlgaeIntake()

    • getGroundAlgaeIntake

      public double getGroundAlgaeIntake()

    • getGroundCoralIntake

      public double getGroundCoralIntake()

    • getLeftCoral

      public double getLeftCoral()

    • getRightCoral

      public double getRightCoral()

    • getL1Coral

      public double getL1Coral()

    • getProcessorAlgae

      public double getProcessorAlgae()

    • getNet

      public double getNet()

    • getClimbPrep

      public double getClimbPrep()

    • getInitPosition

      public double getInitPosition()

    • getTriggerTolerance

      public double getTriggerTolerance()

    • getTwistTolerance

      public double getTwistTolerance()

    • 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()

    • getSensorToMechanismRatio

      public double getSensorToMechanismRatio()

    • setSensorToMechanismRatio

      public Twist.TwistConfig setSensorToMechanismRatio(double sensorToMechanismRatio)
      Returns:
      this.

    • getRotorToSensorRatio

      public double getRotorToSensorRatio()

    • setRotorToSensorRatio

      public Twist.TwistConfig setRotorToSensorRatio(double rotorToSensorRatio)
      Returns:
      this.

    • getCANcoderRotorToSensorRatio

      public double getCANcoderRotorToSensorRatio()

    • setCANcoderRotorToSensorRatio

      public Twist.TwistConfig setCANcoderRotorToSensorRatio(double CANcoderRotorToSensorRatio)
      Returns:
      this.

    • getCANcoderSensorToMechanismRatio

      public double getCANcoderSensorToMechanismRatio()

    • setCANcoderSensorToMechanismRatio

      public Twist.TwistConfig setCANcoderSensorToMechanismRatio(double CANcoderSensorToMechanismRatio)
      Returns:
      this.

    • getCANcoderOffset

      public double getCANcoderOffset()

    • setCANcoderOffset

      public Twist.TwistConfig setCANcoderOffset(double CANcoderOffset)
      Returns:
      this.

    • isCANcoderAttached

      public boolean isCANcoderAttached()

    • setCANcoderAttached

      public Twist.TwistConfig setCANcoderAttached(boolean CANcoderAttached)
      Returns:
      this.

    • getTwistX

      public double getTwistX()

    • getTwistY

      public double getTwistY()

    • getSimRatio

      public double getSimRatio()

    • setSimRatio

      public Twist.TwistConfig setSimRatio(double simRatio)
      Returns:
      this.

    • getCoralLength

      public double getCoralLength()

    • getAlgaeLength

      public double getAlgaeLength()

    • getCoralLineWeight

      public double getCoralLineWeight()

    • getAlgaeLineWeight

      public double getAlgaeLineWeight()

    • getCoralBaseAngle

      public double getCoralBaseAngle()

    • getAlgaeBaseAngle

      public double getAlgaeBaseAngle()

    • getCoralColor

      public edu.wpi.first.wpilibj.util.Color8Bit getCoralColor()

    • getAlgaeColor

      public edu.wpi.first.wpilibj.util.Color8Bit getAlgaeColor()