Package frc.spectrumLib.mechanism

package frc.spectrumLib.mechanism

Classes

Class	Description
Mechanism	Abstract base class representing a CTRE TalonFX-driven robot mechanism with common control modes, telemetry, and convenience Command factories.
Mechanism.Config	Configuration for a Mechanism, encapsulating the TalonFX hardware configuration, control request objects, and mechanism-level parameters (gear ratio, soft limits, PID/FF gains, Motion Magic profile, current limits, etc.).
Mechanism.FollowerConfig	Configuration for a TalonFX follower motor that mirrors the leader.
MotorInputs	Everything a Mechanism reads from its motors in one loop, as an AdvantageKit input.
MotorResetMonitor	Tracks whether a motor has rebooted since its position was last set, so a homed mechanism stops trusting a position that restarted from the boot value.
PositionWrite	A position written to a motor off the main thread, tracked until the motor's readings show it.
TrackingStop	Latches a mechanism to a stop once it has stayed out of tolerance of its closed-loop goal for a debounce time: a jam, a slipped belt, a motor fighting a hard stop.