Package frc.spectrumLib.mechanism

Class Mechanism.Config

java.lang.Object
frc.spectrumLib.mechanism.Mechanism.Config
Direct Known Subclasses:
Climb.ClimbConfig, Elbow.ElbowConfig, Elevator.ElevatorConfig, Intake.IntakeConfig, Shoulder.ShoulderConfig, Twist.TwistConfig
Enclosing class:
Mechanism
public static class Mechanism.Config extends Object

  • Field Details

    • talonConfig

      protected com.ctre.phoenix6.configs.TalonFXConfiguration talonConfig

  • Constructor Details

    • Config

      public Config(String name, int id, String canbus)

  • Method Details

    • applyTalonConfig

      public void applyTalonConfig(com.ctre.phoenix6.hardware.TalonFX talon)

    • setFollowerConfigs

      public void setFollowerConfigs(Mechanism.FollowerConfig... followers)

    • configVoltageCompensation

      public void configVoltageCompensation(double voltageCompSaturation)

    • configCounterClockwise_Positive

      public void configCounterClockwise_Positive()

    • configClockwise_Positive

      public void configClockwise_Positive()

    • configSupplyCurrentLimit

      public void configSupplyCurrentLimit(double supplyLimit, boolean enabled)

    • configStatorCurrentLimit

      public void configStatorCurrentLimit(double statorLimit, boolean enabled)

    • configForwardTorqueCurrentLimit

      public void configForwardTorqueCurrentLimit(double currentLimit)

    • configReverseTorqueCurrentLimit

      public void configReverseTorqueCurrentLimit(double currentLimit)

    • configNeutralDeadband

      public void configNeutralDeadband(double deadband)

    • configPeakOutput

      public void configPeakOutput(double forward, double reverse)

    • configForwardSoftLimit

      public void configForwardSoftLimit(double threshold, boolean enabled)

    • configReverseSoftLimit

      public void configReverseSoftLimit(double threshold, boolean enabled)

    • configContinuousWrap

      public void configContinuousWrap(boolean enabled)

    • configMotionMagicVelocity

      public void configMotionMagicVelocity(double acceleration, double feedforward)

    • configMotionMagicPosition

      public void configMotionMagicPosition(double feedforward)

    • configMotionMagic

      public void configMotionMagic(double cruiseVelocity, double acceleration, double jerk)

    • configGearRatio

      public void configGearRatio(double gearRatio)

    • getGearRatio

      public double getGearRatio()

    • configNeutralBrakeMode

      public void configNeutralBrakeMode(boolean isInBrake)

    • configPIDGains

      public void configPIDGains(double kP, double kI, double kD)
      Defaults to slot 0
      Parameters:
      kP -
      kI -
      kD -

    • configPIDGains

      public void configPIDGains(int slot, double kP, double kI, double kD)

    • configFeedForwardGains

      public void configFeedForwardGains(double kS, double kV, double kA, double kG)
      Defaults to slot 0
      Parameters:
      kS -
      kV -
      kA -
      kG -

    • configFeedForwardGains

      public void configFeedForwardGains(int slot, double kS, double kV, double kA, double kG)

    • configFeedbackSensorSource

      public void configFeedbackSensorSource(com.ctre.phoenix6.signals.FeedbackSensorSourceValue source)

    • configFeedbackSensorSource

      public void configFeedbackSensorSource(com.ctre.phoenix6.signals.FeedbackSensorSourceValue source, double offset)

    • configGravityType

      public void configGravityType(boolean isArm)
      Defaults to slot 0
      Parameters:
      isArm -

    • configGravityType

      public void configGravityType(int slot, boolean isArm)

    • configMinMaxRotations

      protected void configMinMaxRotations(double minRotation, double maxRotation)
      Sets the minimum and maximum motor rotations
      Parameters:
      minRotation -
      maxRotation -

    • getName

      public String getName()

    • isAttached

      public boolean isAttached()

    • setAttached

      public Mechanism.Config setAttached(boolean attached)
      Returns:
      this.

    • getId

      public CanDeviceId getId()

    • getTalonConfig

      public com.ctre.phoenix6.configs.TalonFXConfiguration getTalonConfig()

    • setTalonConfig

      public Mechanism.Config setTalonConfig(com.ctre.phoenix6.configs.TalonFXConfiguration talonConfig)
      Returns:
      this.

    • getNumMotors

      public int getNumMotors()

    • getVoltageCompSaturation

      public double getVoltageCompSaturation()

    • getMinRotations

      public double getMinRotations()

    • getMaxRotations

      public double getMaxRotations()

    • getFollowerConfigs

      public Mechanism.FollowerConfig[] getFollowerConfigs()

    • getMmVelocityFOC

      public com.ctre.phoenix6.controls.MotionMagicVelocityTorqueCurrentFOC getMmVelocityFOC()

    • getMmPositionFOC

      public com.ctre.phoenix6.controls.MotionMagicTorqueCurrentFOC getMmPositionFOC()

    • getDynamicMMPositionFOC

      public com.ctre.phoenix6.controls.DynamicMotionMagicTorqueCurrentFOC getDynamicMMPositionFOC()

    • getMmVelocityVoltage

      public com.ctre.phoenix6.controls.MotionMagicVelocityVoltage getMmVelocityVoltage()

    • getMmPositionVoltage

      public com.ctre.phoenix6.controls.MotionMagicVoltage getMmPositionVoltage()

    • getMmPositionVoltageSlot

      public com.ctre.phoenix6.controls.MotionMagicVoltage getMmPositionVoltageSlot()

    • getVoltageControl

      public com.ctre.phoenix6.controls.VoltageOut getVoltageControl()

    • getVelocityControl

      public com.ctre.phoenix6.controls.VelocityVoltage getVelocityControl()

    • getVelocityTorqueCurrentFOC

      public com.ctre.phoenix6.controls.VelocityTorqueCurrentFOC getVelocityTorqueCurrentFOC()

    • getTorqueCurrentFOC

      public com.ctre.phoenix6.controls.TorqueCurrentFOC getTorqueCurrentFOC()

    • getPercentOutput

      public com.ctre.phoenix6.controls.DutyCycleOut getPercentOutput()