Package frc.robot.subsystems.hood

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 Summary

Fields inherited from class frc.spectrumLib.mechanism.Mechanism.Config

talonConfig

Constructor Summary

Constructors

Constructor	Description
HoodConfig()

Method Summary

Modifier and Type	Method	Description
double	getGearRatio()	Returns the currently configured sensor-to-mechanism gear ratio.
double	getHoldMaxSpeedRPM()
double	getHoodX()
double	getHoodY()
double	getInitPosition()
double	getLength()
double	getLowerSupplyCurrentLimit()
double	getLowerSupplyCurrentTime()
double	getMaxRotations()	Maximum mechanism position in rotations (used for range calculations).
double	getMinRotations()	Minimum mechanism position in rotations (used for range calculations).
double	getMmAcceleration()
double	getMmCruiseVelocity()
double	getMmJerk()
double	getPositionKa()
double	getPositionKd()
double	getPositionKg()
double	getPositionKi()
double	getPositionKp()
double	getPositionKs()
double	getPositionKv()
double	getSimRatio()
double	getStatorCurrentLimit()
double	getSupplyCurrentLimit()

Methods inherited from class frc.spectrumLib.mechanism.Mechanism.Config

applyTalonConfig, configClockwise_Positive, configContinuousWrap, configCounterClockwise_Positive, configFeedbackSensorSource, configFeedbackSensorSource, configFeedForwardGains, configFeedForwardGains, configForwardSoftLimit, configForwardTorqueCurrentLimit, configForwardVoltageLimit, configGearRatio, configGravityType, configGravityType, configLowerSupplyCurrentLimit, configLowerSupplyCurrentTime, configMinMaxRotations, configMotionMagic, configMotionMagicPosition, configMotionMagicVelocity, configNeutralBrakeMode, configNeutralDeadband, configPeakOutput, configPIDGains, configPIDGains, configReverseSoftLimit, configReverseTorqueCurrentLimit, configReverseVoltageLimit, configStatorCurrentLimit, configSupplyCurrentLimit, configVoltageCompensation, getDynamicMMPositionFOC, getDynamicMotionMagicVoltage, getFollowerConfigs, getId, getMmPositionFOC, getMmPositionVoltage, getMmPositionVoltageSlot, getMmVelocityFOC, getMmVelocityVoltage, getName, getNumMotors, getPercentOutput, getTalonConfig, getTorqueCurrentFOC, getVelocityControl, getVelocityTorqueCurrentFOC, getVoltageCompSaturation, getVoltageControl, isAttached, setAttached, setFollowerConfigs, setTalonConfig

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

HoodConfig

public HoodConfig()

Method Details

getInitPosition

public double getInitPosition()

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()