Package com.marslib.mechanisms

Interface RotaryMechanismIO

All Known Implementing Classes:

RotaryMechanismIOSim, RotaryMechanismIOTalonFX

public interface RotaryMechanismIO

Hardware abstraction interface for a rotary mechanism (like an arm or wrist).

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	RotaryMechanismIO.RotaryMechanismIOInputs

Method Summary

Modifier and Type	Method	Description
default void	setBrakeMode(boolean enable)
default void	setClosedLoopPosition(double positionRad, double feedforwardVolts)	Runs a low latency closed-loop profile on motor with external feedforward.
default void	setCurrentLimit(double amps)
default void	setEncoderPosition(double positionRad)	Resets the internal encoder to a given position.
default void	setVoltage(double volts)
default void	updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs inputs)

Method Details

updateInputs

default void updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs inputs)

setVoltage

default void setVoltage(double volts)

setClosedLoopPosition

default void setClosedLoopPosition(double positionRad,
 double feedforwardVolts)

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

setEncoderPosition

default void setEncoderPosition(double positionRad)

Resets the internal encoder to a given position.

setCurrentLimit

default void setCurrentLimit(double amps)

setBrakeMode

default void setBrakeMode(boolean enable)