Record Class HoodHoming.Params

java.lang.Object

java.lang.Record

frc.robot.subsystems.hood.HoodHoming.Params

Record Components:

stopDeg - hood angle at the bottom stop, degrees

volts - output while homing, toward the stop (negative)

stallDegPerSec - the hood is stalled while slower than this, deg/s

stallSeconds - how long it must stay stalled to count as on the stop

timeoutSeconds - how long an attempt may run before giving up

nearHomeDeg - re-home on stow once this close to the stop, degrees

Enclosing class:

HoodHoming

public static record HoodHoming.Params(double stopDeg, double volts, double stallDegPerSec, double stallSeconds, double timeoutSeconds, double nearHomeDeg)
extends Record

Homing constants.

Constructor Summary

Constructors

Constructor	Description
Params(double stopDeg, double volts, double stallDegPerSec, double stallSeconds, double timeoutSeconds, double nearHomeDeg)	Creates an instance of a Params record class.

Method Summary

Modifier and Type	Method	Description
final boolean	equals(Object o)	Indicates whether some other object is "equal to" this one.
static HoodHoming.Params	fm()	FM's numbers.
final int	hashCode()	Returns a hash code value for this object.
double	nearHomeDeg()	Returns the value of the nearHomeDeg record component.
double	stallDegPerSec()	Returns the value of the stallDegPerSec record component.
double	stallSeconds()	Returns the value of the stallSeconds record component.
double	stopDeg()	Returns the value of the stopDeg record component.
double	timeoutSeconds()	Returns the value of the timeoutSeconds record component.
final String	toString()	Returns a string representation of this record class.
double	volts()	Returns the value of the volts record component.

Methods inherited from class Object

clone, finalize, getClass, notify, notifyAll, wait, wait, wait

Constructor Details

Params

public Params(double stopDeg,
 double volts,
 double stallDegPerSec,
 double stallSeconds,
 double timeoutSeconds,
 double nearHomeDeg)

Creates an instance of a Params record class.

Parameters:

stopDeg - the value for the stopDeg record component

volts - the value for the volts record component

stallDegPerSec - the value for the stallDegPerSec record component

stallSeconds - the value for the stallSeconds record component

timeoutSeconds - the value for the timeoutSeconds record component

nearHomeDeg - the value for the nearHomeDeg record component

Method Details

fm

public static HoodHoming.Params fm()

FM's numbers. CALIBRATE on the bench (README, "Hood homing").

• Stop 9 deg: the angle FM's code has always seeded at boot and sent home to.
• -1.5 V: about 0.6 V goes to the 25 A kS (Kraken FOC is about 0.025 ohm), the rest moves the hood at roughly 50 deg/s, so the 40 deg of travel takes under a second. Stalled, the 60 A stator limit caps the push. 6328 homes at -2 V.
• Stalled under 4 deg/s for 0.2 s: 4 deg/s is a tenth of the homing speed, and 0.2 s covers the hood breaking away from rest and the velocity signal's lag, so a hood that starts above the stop is not taken as stalled before it moves.
• Timeout 3 s: three times the full-travel time.
• Re-home on stow within 2 deg: a stow re-home then corrects at most a couple of degrees, and costs about 0.25 s at the stop.

Returns:

the constants

toString

public final String toString()

Returns a string representation of this record class. The representation contains the name of the class, followed by the name and value of each of the record components.

Specified by:

toString in class Record

Returns:

a string representation of this object

hashCode

public final int hashCode()

Returns a hash code value for this object. The value is derived from the hash code of each of the record components.

Specified by:

hashCode in class Record

Returns:

a hash code value for this object

equals

public final boolean equals(Object o)

Indicates whether some other object is "equal to" this one. The objects are equal if the other object is of the same class and if all the record components are equal. All components in this record class are compared with the compare method from their corresponding wrapper classes.

Specified by:

equals in class Record

Parameters:

o - the object with which to compare

Returns:

true if this object is the same as the o argument; false otherwise.

stopDeg

public double stopDeg()

Returns the value of the stopDeg record component.

Returns:

the value of the stopDeg record component

volts

public double volts()

Returns the value of the volts record component.

Returns:

the value of the volts record component

stallDegPerSec

public double stallDegPerSec()

Returns the value of the stallDegPerSec record component.

Returns:

the value of the stallDegPerSec record component

stallSeconds

public double stallSeconds()

Returns the value of the stallSeconds record component.

Returns:

the value of the stallSeconds record component

timeoutSeconds

public double timeoutSeconds()

Returns the value of the timeoutSeconds record component.

Returns:

the value of the timeoutSeconds record component

nearHomeDeg

public double nearHomeDeg()

Returns the value of the nearHomeDeg record component.

Returns:

the value of the nearHomeDeg record component