Package frc.robot.subsystems.intakeExtension

Class IntakeExtension.IntakeExtensionRight

java.lang.Object

frc.spectrumLib.mechanism.Mechanism

frc.robot.subsystems.intakeExtension.IntakeExtension.IntakeExtensionRight

All Implemented Interfaces:

Subsystem

Enclosing class:

IntakeExtension

public static class IntakeExtension.IntakeExtensionRight
extends Mechanism

The right deploy axis. A standalone Mechanism (not a follower) so it can be driven independently of the left during a resync. Gains, limits, and geometry mirror the left config; only the CAN id, name, and motor inversion differ (the right gearbox is mirrored, so it is CounterClockwise_Positive where the left is Clockwise_Positive, giving both axes the same "positive = extend" convention).

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	IntakeExtension.IntakeExtensionRight.RightConfig

Nested classes/interfaces inherited from class frc.spectrumLib.mechanism.Mechanism

Mechanism.Config, Mechanism.FollowerConfig

Field Summary

Fields inherited from class frc.spectrumLib.mechanism.Mechanism

config, followerMotors, motor

Constructor Summary

Constructors

Constructor	Description
IntakeExtensionRight(IntakeExtension.IntakeExtensionConfig leftConfig)

Method Summary

Modifier and Type	Method	Description
void	driveHomingVoltage(double volts)	Open-loop voltage that bypasses soft limits.
IntakeExtension.IntakeExtensionRight.RightConfig	getRightConfig()
void	goToRotations(double rotations)	Closed-loop Motion Magic to an absolute rotation target.
void	goToRotationsSlow(double rotations, double cruiseVelocity, double acceleration, double jerk)	Slow (dynamic Motion Magic voltage) move to a rotation target.
void	periodic()	Called once per scheduler loop.
void	setInitialPosition(double rotations)	Seeds this axis's encoder to a known starting position (rotations).
void	stopAxis()	Holds the axis (neutral output).
void	zeroAtMax()	Re-zeroes this axis at the fully-extended hard stop.

Methods inherited from class frc.spectrumLib.mechanism.Mechanism

aboveCurrent, aboveDegrees, abovePercentage, aboveRotations, aboveVelocityRPM, applyCurrentLimit, atCurrent, atDegrees, atPercentage, atRotations, atTargetPosition, atVelocityRPM, belowCurrent, belowDegrees, belowPercentage, belowRotations, belowVelocityRPM, checkAvgCurrent, checkMaxCurrent, checkMinThresholdCurrent, coastMode, degreesToRotations, ensureBrakeMode, getCurrentCommandName, getFollowerMotors, getMotor, getName, getPositionDegrees, getPositionPercentage, getPositionRotations, getStatorCurrent, getSupplyCurrent, getTarget, getTemp, getVelocityRPM, getVelocityTargetRPS, getVoltage, isAtRotations, isAttached, isAtTargetPosition, logBatteryUsage, moveToDegrees, moveToPercentage, moveToRotations, percentToRotations, rotationsToDegrees, rotationsToPercent, runCurrentLimits, runFocRotations, runningDefaultCommand, runPercentage, runStop, runTorqueCurrentFoc, runVelocity, runVelocityTcFocRPM, runVoltage, runVoltageNoSoftLimit, setBrakeMode, setCurrentLimits, setDynMMPositionFoc, setDynMMPositionVoltage, setMMPosition, setMMPosition, setMMPositionFoc, setMMVelocityFOC, setMotorPosition, setPercentOutput, setTorqueCurrentFoc, setVelocity, setVelocityTCFOCrpm, setVelocityTorqueCurrentFOC, setVoltageOutput, setVoltageOutputNoSoftLimit, simulationPeriodic, stop, tareMotor, toggleReverseSoftLimit, toggleSupplyCurrentLimit, toggleTorqueCurrentLimit, updateStatorCurrent, updateSupplyCurrent, updateTemp, updateVoltage

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, startEnd, startRun

Constructor Details

IntakeExtensionRight

public IntakeExtensionRight(IntakeExtension.IntakeExtensionConfig leftConfig)

Method Details

goToRotations

public void goToRotations(double rotations)

Closed-loop Motion Magic to an absolute rotation target.

goToRotationsSlow

public void goToRotationsSlow(double rotations,
 double cruiseVelocity,
 double acceleration,
 double jerk)

Slow (dynamic Motion Magic voltage) move to a rotation target.

driveHomingVoltage

public void driveHomingVoltage(double volts)

Open-loop voltage that bypasses soft limits. Used to drive into the hard stop.

setInitialPosition

public void setInitialPosition(double rotations)

Seeds this axis's encoder to a known starting position (rotations).

zeroAtMax

public void zeroAtMax()

Re-zeroes this axis at the fully-extended hard stop.

stopAxis

public void stopAxis()

Holds the axis (neutral output).

periodic

public void periodic()

Description copied from class: Mechanism

Called once per scheduler loop. Concrete subclasses should override to implement their periodic state-machine logic, telemetry, and sensor updates.

Specified by:

periodic in interface Subsystem

Overrides:

periodic in class Mechanism

getRightConfig

public IntakeExtension.IntakeExtensionRight.RightConfig getRightConfig()