Class Hood.HoodConfig

java.lang.Object
frc.spectrumLib.mechanism.Mechanism.Config
frc.robot.subsystems.hood.Hood.HoodConfig
Enclosing class:
Hood
public static class Hood.HoodConfig extends Mechanism.Config

  • Field Details

    • FORWARD_SOFT_LIMIT

      public static final DoubleParam FORWARD_SOFT_LIMIT
      49.3 deg. No higher than that: where the top stop is is not recorded in this code, so raising the limit is a code change. No lower than 20 deg, well above the bottom stop, so the two limits can never cross.

    • REVERSE_SOFT_LIMIT

      public static final DoubleParam REVERSE_SOFT_LIMIT
      8.64 deg, 0.36 deg under the 9 deg bottom stop on purpose. At most the stop itself, where the hood boots and homes (initPosition, HoodHoming stopDeg): above it the hood would sit outside its own limits. At least 1 deg under the stop.

  • Constructor Details

    • HoodConfig

      public HoodConfig()

  • Method Details

    • getInitPosition

      public double getInitPosition()
      Best guess at boot, until homing finds the stop.

    • getMaxRotations

      public double getMaxRotations()
      Description copied from class: Mechanism.Config
      Maximum mechanism position in rotations (used for range calculations).
      Overrides:
      getMaxRotations in class Mechanism.Config

    • getMinRotations

      public double getMinRotations()
      Description copied from class: Mechanism.Config
      Minimum mechanism position in rotations (used for range calculations).
      Overrides:
      getMinRotations in class Mechanism.Config

    • getSupplyCurrentLimit

      public double getSupplyCurrentLimit()

    • getStatorCurrentLimit

      public double getStatorCurrentLimit()

    • getLowerSupplyCurrentLimit

      public double getLowerSupplyCurrentLimit()

    • getLowerSupplyCurrentTime

      public double getLowerSupplyCurrentTime()

    • getPositionKp

      public double getPositionKp()

    • getPositionKi

      public double getPositionKi()

    • getPositionKd

      public double getPositionKd()

    • getPositionKv

      public double getPositionKv()

    • getPositionKs

      public double getPositionKs()

    • getPositionKa

      public double getPositionKa()

    • getPositionKg

      public double getPositionKg()

    • getGearRatio

      public double getGearRatio()
      Description copied from class: Mechanism.Config
      Returns the currently configured sensor-to-mechanism gear ratio.
      Overrides:
      getGearRatio in class Mechanism.Config
      Returns:
      the gear ratio

    • getMmCruiseVelocity

      public double getMmCruiseVelocity()

    • getMmAcceleration

      public double getMmAcceleration()

    • getMmJerk

      public double getMmJerk()

    • getHoldMaxSpeedRPM

      public double getHoldMaxSpeedRPM()

    • getHoodX

      public double getHoodX()

    • getHoodY

      public double getHoodY()

    • getSimRatio

      public double getSimRatio()

    • getLength

      public double getLength()