Package com.marslib.mechanisms

Class LinearMechanismIOTalonFX

java.lang.Object

com.marslib.mechanisms.LinearMechanismIOTalonFX

All Implemented Interfaces:

LinearMechanismIO

public class LinearMechanismIOTalonFX
extends Object
implements LinearMechanismIO

Hardware binding layer for singular Linear Mechanisms (Elevators, Extensors) utilizing CTRE TalonFX (Kraken/Falcon) motors.

Students: This IO class natively integrates CTRE's Phoenix 6 API identically to the Rotary layer, except it manages the `spoolDiameterMeters` allowing it to physically convert Motor Rotations into absolute Metric Extents (meters).

Phoenix 6 runs current limits natively on the stator coil at 1000Hz (1kHz) providing robust physical limits. When calling setClosedLoopPosition(double, double), this layer leverages Phoenix 6 "Motion Magic", which is a trapezoidal profile generator running physically on the motor controller directly.

Nested Class Summary

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

LinearMechanismIO.LinearMechanismIOInputs

Constructor Summary

Constructors

Constructor	Description
LinearMechanismIOTalonFX(int leaderId, int[] followerIds, boolean[] opposeLeader, String canbus, double gearRatio, double spoolDiameterMeters, boolean inverted)
LinearMechanismIOTalonFX(int motorId, String canbus, double gearRatio, double spoolDiameterMeters, boolean inverted)	Initializes the TalonFX hardware and pre-configures Linear MotionMagic parameters.

Method Summary

Modifier and Type	Method	Description
void	setBrakeMode(boolean enable)
void	setClosedLoopPosition(double positionMeters, double feedforwardVolts)	Pushes a target state using Phoenix 6 Motion Magic.
void	setCurrentLimit(double amps)
void	setVoltage(double volts)
void	updateInputs(LinearMechanismIO.LinearMechanismIOInputs inputs)

Methods inherited from class java.lang.Object

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

Constructor Details

LinearMechanismIOTalonFX

public LinearMechanismIOTalonFX(int motorId,
 String canbus,
 double gearRatio,
 double spoolDiameterMeters,
 boolean inverted)

Initializes the TalonFX hardware and pre-configures Linear MotionMagic parameters.

Parameters:

motorId - The physical CAN ID of the TalonFX.

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

gearRatio - Total mechanical gear reduction from the motor to the spool.

spoolDiameterMeters - The physical diameter of the output spool pulling the belt/string.

inverted - Whether positive rotation extends the mechanism outward.

LinearMechanismIOTalonFX

public LinearMechanismIOTalonFX(int leaderId,
 int[] followerIds,
 boolean[] opposeLeader,
 String canbus,
 double gearRatio,
 double spoolDiameterMeters,
 boolean inverted)

Method Details

updateInputs

public void updateInputs(LinearMechanismIO.LinearMechanismIOInputs inputs)

Specified by:

updateInputs in interface LinearMechanismIO

setVoltage

public void setVoltage(double volts)

Specified by:

setVoltage in interface LinearMechanismIO

setClosedLoopPosition

public void setClosedLoopPosition(double positionMeters,
 double feedforwardVolts)

Pushes a target state using Phoenix 6 Motion Magic.

Students: The target parameter `positionMeters` is passed natively as Extent Meters. This class handles scaling that value up through the Spool Circumference and Gear Ratio automatically so the TalonFX understands how many internal motor rotations it must make to drive the elevator to your target height.

Specified by:

setClosedLoopPosition in interface LinearMechanismIO

Parameters:

positionMeters - The target extension length of the mechanism (meters).

feedforwardVolts - Dynamic SysId feedforward volts (usually Gravity compensation) aiding the onboard PID.

setCurrentLimit

public void setCurrentLimit(double amps)

Specified by:

setCurrentLimit in interface LinearMechanismIO

setBrakeMode

public void setBrakeMode(boolean enable)

Specified by:

setBrakeMode in interface LinearMechanismIO