Class IntakeExtension.IntakeExtensionConfig

java.lang.Object
frc.spectrumLib.mechanism.Mechanism.Config
frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionConfig
Enclosing class:
IntakeExtension
public static class IntakeExtension.IntakeExtensionConfig extends Mechanism.Config

  • Field Details

    • FORWARD_SOFT_LIMIT

      public static final DoubleParam FORWARD_SOFT_LIMIT

    • REVERSE_SOFT_LIMIT

      public static final DoubleParam REVERSE_SOFT_LIMIT

  • Constructor Details

    • IntakeExtensionConfig

      public IntakeExtensionConfig()

  • Method Details

    • applyMotorConfig

      public IntakeExtension.IntakeExtensionConfig applyMotorConfig(TalonFX motor)

    • getInitPosition

      public double getInitPosition()

    • getTriggerTolerance

      public double getTriggerTolerance()

    • getZeroSpeed

      public double getZeroSpeed()

    • getHoldMaxSpeedRPM

      public double getHoldMaxSpeedRPM()

    • 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()

    • getSlowMmCruiseVelocity

      public double getSlowMmCruiseVelocity()

    • getSlowMmAcceleration

      public double getSlowMmAcceleration()

    • getSlowMmJerk

      public double getSlowMmJerk()

    • getSensorToMechanismRatio

      public double getSensorToMechanismRatio()

    • getRotorToSensorRatio

      public double getRotorToSensorRatio()

    • getCANcoderRotorToSensorRatio

      public double getCANcoderRotorToSensorRatio()

    • getCANcoderSensorToMechanismRatio

      public double getCANcoderSensorToMechanismRatio()

    • getCANcoderOffset

      public double getCANcoderOffset()

    • isCANcoderAttached

      public boolean isCANcoderAttached()

    • getHomingVoltage

      public double getHomingVoltage()

    • getHomingStallRPM

      public double getHomingStallRPM()

    • getHomingMinTimeSecs

      public double getHomingMinTimeSecs()

    • getHomingStallDebounceSecs

      public double getHomingStallDebounceSecs()

    • getHomingTimeoutSecs

      public double getHomingTimeoutSecs()

    • getExtendSteadySecs

      public double getExtendSteadySecs()

    • getExtendSteadyMaxRPM

      public double getExtendSteadyMaxRPM()

    • getExtendAtTargetToleranceRotations

      public double getExtendAtTargetToleranceRotations()

    • getExtendReextendRotations

      public double getExtendReextendRotations()
      While holding, pushed back in by this much (about 2 in) drives out again.

    • getRelearnMaxTravelRotations

      public double getRelearnMaxTravelRotations()
      Out-point relearn only when the extend moved less than this: a power-on with the intake out cannot move, while a jam part way out moves first (RESYNC handles those).

    • getRelearnMaxSkewRotations

      public double getRelearnMaxSkewRotations()
      Both sides must read within this of each other, or one is bound up short.

    • getIntakeX

      public double getIntakeX()

    • getIntakeY

      public double getIntakeY()

    • getExtensionMass

      public double getExtensionMass()

    • getDrumRadiusMeters

      public double getDrumRadiusMeters()

    • getExtensionGearing

      public double getExtensionGearing()

    • getAngle

      public double getAngle()

    • getStaticLength

      public double getStaticLength()

    • getMovingLength

      public double getMovingLength()

    • getLineWidth

      public double getLineWidth()

    • getMaxExtensionHeight

      public double getMaxExtensionHeight()