Package com.marslib.mechanisms

Interface LinearMechanismIO

All Known Implementing Classes:

LinearMechanismIOSim, LinearMechanismIOTalonFX

public interface LinearMechanismIO

Hardware abstraction interface for a linear translating mechanism (like an elevator).

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	LinearMechanismIO.LinearMechanismIOInputs

Method Summary

Modifier and Type	Method	Description
default void	setBrakeMode(boolean enable)
default void	setClosedLoopPosition(double positionMeters, double feedforwardVolts)	Runs a low latency closed-loop profile on motor with external feedforward.
default void	setCurrentLimit(double amps)
default void	setVoltage(double volts)
default void	updateInputs(LinearMechanismIO.LinearMechanismIOInputs inputs)

Method Details

updateInputs

default void updateInputs(LinearMechanismIO.LinearMechanismIOInputs inputs)

setVoltage

default void setVoltage(double volts)

setClosedLoopPosition

default void setClosedLoopPosition(double positionMeters,
 double feedforwardVolts)

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

setCurrentLimit

default void setCurrentLimit(double amps)

setBrakeMode

default void setBrakeMode(boolean enable)