Package com.marslib.mechanisms

Class RotaryMechanismIOTalonFX

java.lang.Object

com.marslib.mechanisms.RotaryMechanismIOTalonFX

All Implemented Interfaces:

RotaryMechanismIO

public class RotaryMechanismIOTalonFX
extends Object
implements RotaryMechanismIO

Hardware binding layer for singular Rotary Mechanisms utilizing CTRE TalonFX (Kraken/Falcon) motors.

Students: This IO class natively integrates CTRE's Phoenix 6 API. Notice how we use `StatusSignal` to fetch velocity and positions. Phoenix 6 runs Odometry internally at 1000Hz (1kHz) natively. 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.RotaryMechanismIO

RotaryMechanismIO.RotaryMechanismIOInputs

Constructor Summary

Constructors

Constructor	Description
RotaryMechanismIOTalonFX(int motorId, String canbus, double gearRatio, boolean inverted)	Initializes the TalonFX hardware and pre-configures MotionMagic.

Method Summary

Modifier and Type	Method	Description
void	setBrakeMode(boolean enable)
void	setClosedLoopPosition(double positionRad, double feedforwardVolts)	Pushes a target state using Phoenix 6 Motion Magic.
void	setCurrentLimit(double amps)
void	setEncoderPosition(double positionRad)	Resets the internal encoder to a given position.
void	setVoltage(double volts)
void	updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs inputs)

Methods inherited from class java.lang.Object

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

Constructor Details

RotaryMechanismIOTalonFX

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

Initializes the TalonFX hardware and pre-configures MotionMagic.

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 output shaft (e.g. 10.0 for 10:1).

inverted - Whether the positive motor rotation direction drives the mechanism "forward".

Method Details

updateInputs

public void updateInputs(RotaryMechanismIO.RotaryMechanismIOInputs inputs)

Specified by:

updateInputs in interface RotaryMechanismIO

setVoltage

public void setVoltage(double volts)

Specified by:

setVoltage in interface RotaryMechanismIO

setClosedLoopPosition

public void setClosedLoopPosition(double positionRad,
 double feedforwardVolts)

Pushes a target state using Phoenix 6 Motion Magic.

Students: The target parameter `positionRad` is passed as pure mechanism Radians. This class handles scaling that value up through the Gear Ratio automatically so the physical TalonFX understands how many raw Motor Rotations it needs to accomplish to hit your target.

Specified by:

setClosedLoopPosition in interface RotaryMechanismIO

Parameters:

positionRad - The target angle of the total mechanism (radians).

feedforwardVolts - Dynamic SysId feedforward volts aiding the onboard PID.

setEncoderPosition

public void setEncoderPosition(double positionRad)

Description copied from interface: RotaryMechanismIO

Resets the internal encoder to a given position.

Specified by:

setEncoderPosition in interface RotaryMechanismIO

setCurrentLimit

public void setCurrentLimit(double amps)

Specified by:

setCurrentLimit in interface RotaryMechanismIO

setBrakeMode

public void setBrakeMode(boolean enable)

Specified by:

setBrakeMode in interface RotaryMechanismIO