Package com.marslib.mechanisms

Class FlywheelIOTalonFX

java.lang.Object

com.marslib.mechanisms.FlywheelIOTalonFX

All Implemented Interfaces:

FlywheelIO

public class FlywheelIOTalonFX
extends Object
implements FlywheelIO

Real hardware implementation of FlywheelIO using a CTRE TalonFX motor controller.

Supports open-loop voltage control and closed-loop velocity control via Phoenix 6 onboard PID. Used for shooter and intake flywheels on the physical robot.

Nested Class Summary

Nested classes/interfaces inherited from interface com.marslib.mechanisms.FlywheelIO

FlywheelIO.FlywheelIOInputs

Constructor Summary

Constructors

Constructor	Description
FlywheelIOTalonFX(int leaderId, int[] followerIds, boolean[] opposeLeader, String canBus, boolean invert)	Constructs a master-follower Flywheel configuration (e.g., dual-motor shooter).
FlywheelIOTalonFX(int motorId, String canBus, boolean invert)	Constructs a single Flywheel mechanism using a direct CTRE TalonFX.

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

FlywheelIOTalonFX

public FlywheelIOTalonFX(int motorId,
 String canBus,
 boolean invert)

Constructs a single Flywheel mechanism using a direct CTRE TalonFX.

Parameters:

motorId - The physical CAN ID of the primary TalonFX.

canBus - The CANBus string (e.g. "rio" or "canivore").

invert - Whether to invert the motor output.

FlywheelIOTalonFX

public FlywheelIOTalonFX(int leaderId,
 int[] followerIds,
 boolean[] opposeLeader,
 String canBus,
 boolean invert)

Constructs a master-follower Flywheel configuration (e.g., dual-motor shooter).

Parameters:

leaderId - The physical CAN ID of the master TalonFX.

followerIds - Array of CAN IDs for the follower motors.

opposeLeader - Array of booleans denoting if the follower should spin opposite to the leader.

canBus - The CANBus string.

invert - Whether the leader is inverted.

Method Details

updateInputs

public void updateInputs(FlywheelIO.FlywheelIOInputs inputs)

Specified by:

updateInputs in interface FlywheelIO

setVoltage

public void setVoltage(double volts)

Specified by:

setVoltage in interface FlywheelIO

setClosedLoopVelocity

public void setClosedLoopVelocity(double velocityRadPerSec,
 double feedforwardVolts)

Description copied from interface: FlywheelIO

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

Specified by:

setClosedLoopVelocity in interface FlywheelIO

setCurrentLimit

public void setCurrentLimit(double amps)

Specified by:

setCurrentLimit in interface FlywheelIO

setBrakeMode

public void setBrakeMode(boolean enable)

Specified by:

setBrakeMode in interface FlywheelIO