Package com.marslib.mechanisms

Interface FlywheelIO

All Known Implementing Classes:

FlywheelIOSim, FlywheelIOTalonFX

public interface FlywheelIO

Hardware abstraction interface for a velocity-controlled flywheel/roller mechanism.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	FlywheelIO.FlywheelIOInputs

Method Summary

Modifier and Type	Method	Description
default void	setBrakeMode(boolean enable)
default void	setClosedLoopVelocity(double velocityRadPerSec, double feedforwardVolts)	Runs a low latency closed-loop velocity profile on motor with external feedforward.
default void	setCurrentLimit(double amps)
default void	setVoltage(double volts)
default void	updateInputs(FlywheelIO.FlywheelIOInputs inputs)

Method Details

updateInputs

default void updateInputs(FlywheelIO.FlywheelIOInputs inputs)

setVoltage

default void setVoltage(double volts)

setClosedLoopVelocity

default void setClosedLoopVelocity(double velocityRadPerSec,
 double feedforwardVolts)

Runs a low latency closed-loop velocity profile on motor with external feedforward.

setCurrentLimit

default void setCurrentLimit(double amps)

setBrakeMode

default void setBrakeMode(boolean enable)