Package frc.robot.turret

Class Turret.TurretConfig

java.lang.Object

frc.spectrumLib.mechanism.Mechanism.Config

frc.robot.turret.Turret.TurretConfig

Enclosing class:

Turret

public static class Turret.TurretConfig
extends Mechanism.Config

Field Summary

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

talonConfig

Constructor Summary

Constructors

Constructor	Description
TurretConfig()

Method Summary

Modifier and Type	Method	Description
double	getCANcoderOffset()
double	getCANcoderRotorToSensorRatio()
double	getCANcoderSensorToMechanismRatio()
double	getCurrentLimit()
double	getHoldMaxSpeedRPM()
double	getInitPosition()
double	getIntakeX()
double	getIntakeY()
double	getLength()
double	getMmAcceleration()
double	getMmCruiseVelocity()
double	getMmJerk()
double	getPositionKa()
double	getPositionKd()
double	getPositionKg()
double	getPositionKp()
double	getPositionKs()
double	getPositionKv()
double	getRotorToSensorRatio()
double	getSensorToMechanismRatio()
double	getSimRatio()
double	getTorqueCurrentLimit()
double	getTriggerTolerance()
double	getUnwrapTolerance()
double	getZeroSpeed()
boolean	isCANcoderAttached()
boolean	isReversed()
Turret.TurretConfig	modifyMotorConfig(com.ctre.phoenix6.hardware.TalonFX motor)
void	setCANcoderAttached(boolean CANcoderAttached)
void	setCANcoderOffset(double CANcoderOffset)
void	setCANcoderRotorToSensorRatio(double CANcoderRotorToSensorRatio)
void	setCANcoderSensorToMechanismRatio(double CANcoderSensorToMechanismRatio)
void	setReversed(boolean reversed)
void	setRotorToSensorRatio(double rotorToSensorRatio)
void	setSensorToMechanismRatio(double sensorToMechanismRatio)

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

applyTalonConfig, configClockwise_Positive, configContinuousWrap, configCounterClockwise_Positive, configFeedbackSensorSource, configFeedbackSensorSource, configFeedForwardGains, configFeedForwardGains, configForwardSoftLimit, configForwardTorqueCurrentLimit, configGearRatio, configGravityType, configGravityType, configMinMaxRotations, configMotionMagic, configMotionMagicPosition, configMotionMagicVelocity, configNeutralBrakeMode, configNeutralDeadband, configPeakOutput, configPIDGains, configPIDGains, configReverseSoftLimit, configReverseTorqueCurrentLimit, configStatorCurrentLimit, configSupplyCurrentLimit, configVoltageCompensation, getDynamicMMPositionFOC, getFollowerConfigs, getGearRatio, getId, getMaxRotations, getMinRotations, 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

TurretConfig

public TurretConfig()

Method Details

modifyMotorConfig

public Turret.TurretConfig modifyMotorConfig(com.ctre.phoenix6.hardware.TalonFX motor)

isReversed

public boolean isReversed()

setReversed

public void setReversed(boolean reversed)

getInitPosition

public double getInitPosition()

getTriggerTolerance

public double getTriggerTolerance()

getUnwrapTolerance

public double getUnwrapTolerance()

getZeroSpeed

public double getZeroSpeed()

getHoldMaxSpeedRPM

public double getHoldMaxSpeedRPM()

getCurrentLimit

public double getCurrentLimit()

getTorqueCurrentLimit

public double getTorqueCurrentLimit()

getPositionKp

public double getPositionKp()

getPositionKd

public double getPositionKd()

getPositionKv

public double getPositionKv()

getPositionKs

public double getPositionKs()

getPositionKa

public double getPositionKa()

getPositionKg

public double getPositionKg()

getMmCruiseVelocity

public double getMmCruiseVelocity()

getMmAcceleration

public double getMmAcceleration()

getMmJerk

public double getMmJerk()

getSensorToMechanismRatio

public double getSensorToMechanismRatio()

setSensorToMechanismRatio

public void setSensorToMechanismRatio(double sensorToMechanismRatio)

getRotorToSensorRatio

public double getRotorToSensorRatio()

setRotorToSensorRatio

public void setRotorToSensorRatio(double rotorToSensorRatio)

getCANcoderRotorToSensorRatio

public double getCANcoderRotorToSensorRatio()

setCANcoderRotorToSensorRatio

public void setCANcoderRotorToSensorRatio(double CANcoderRotorToSensorRatio)

getCANcoderSensorToMechanismRatio

public double getCANcoderSensorToMechanismRatio()

setCANcoderSensorToMechanismRatio

public void setCANcoderSensorToMechanismRatio(double CANcoderSensorToMechanismRatio)

getCANcoderOffset

public double getCANcoderOffset()

setCANcoderOffset

public void setCANcoderOffset(double CANcoderOffset)

isCANcoderAttached

public boolean isCANcoderAttached()

setCANcoderAttached

public void setCANcoderAttached(boolean CANcoderAttached)

getIntakeX

public double getIntakeX()

getIntakeY

public double getIntakeY()

getSimRatio

public double getSimRatio()

getLength

public double getLength()