Package frclib.subsystem

Class FrcMotorGrabber.Params

java.lang.Object
frclib.subsystem.FrcMotorGrabber.Params
Enclosing class:
FrcMotorGrabber
public static class FrcMotorGrabber.Params extends Object
This class contains all the parameters of the Motor Grabber.

  • Constructor Details

    • Params

      public Params()

  • Method Details

    • toString

      public String toString()
      This method returns the string format of the Params info.
      Overrides:
      toString in class Object
      Returns:
      string format of the params info.

    • setPrimaryMotor

      public FrcMotorGrabber.Params setPrimaryMotor(String name, int motorId, FrcMotorActuator.MotorType motorType, boolean motorBrushless, boolean motorAbsEnc, boolean motorInverted)
      This methods sets the parameters of the primary motor.
      Parameters:
      name - specifies the name of the motor.
      motorId - specifies the ID for the motor (CAN ID for CAN motor, PWM channel for PWM motor).
      motorType - specifies the motor type.
      motorBrushless - specifies true if motor is brushless, false if brushed (only applicable for SparkMax).
      motorAbsEnc - specifies true if uses DutyCycle absolute encoder, false to use relative encoder (only applicable for SparkMax).
      motorInverted - specifies true to invert the motor direction, false otherwise.
      Returns:
      this object for chaining.

    • setFollowerMotor

      public FrcMotorGrabber.Params setFollowerMotor(String name, int motorId, FrcMotorActuator.MotorType motorType, boolean motorBrushless, boolean motorAbsEnc, boolean motorInverted)
      This methods sets the parameter of the follower motor if there is one.
      Parameters:
      name - specifies the name of the motor.
      motorId - specifies the ID for the motor (CAN ID for CAN motor, PWM channel for PWM motor).
      motorType - specifies the motor type.
      motorBrushless - specifies true if motor is brushless, false if brushed (only applicable for SparkMax).
      motorAbsEnc - specifies true if uses DutyCycle absolute encoder, false to use relative encoder (only applicable for SparkMax).
      motorInverted - specifies true to invert the motor direction, false otherwise.
      Returns:
      this object for chaining.

    • setPowerParams

      public FrcMotorGrabber.Params setPowerParams(double intakePower, double ejectPower, double retainPower)
      This method sets all the different power level for the operation.
      Parameters:
      intakePower - specifies the power level for intaking the object.
      ejectPower - specifies the power level for ejecting the object.
      retainPower - specifies the power level for retaining the object.
      Returns:
      this parameter object.

    • setDigitalInputTrigger

      public FrcMotorGrabber.Params setDigitalInputTrigger(String name, int channel, boolean triggerInverted)
      This method specifies the digital input trigger parameters.
      Parameters:
      name - specifies the name of the sensor.
      channel - specifies the digital input channel.
      triggerInverted - specifies true if the trigger polarity is inverted.
      Returns:
      this object for chaining.

    • setAnalogInputTrigger

      public FrcMotorGrabber.Params setAnalogInputTrigger(String name, int channel, boolean triggerInverted, double triggerThreshold, double hasObjectThreshold)
      This method specifies the analog input trigger parameters.
      Parameters:
      name - specifies the name of the sensor.
      channel - specifies the analog input channel.
      triggerInverted - specifies true if the trigger polarity is inverted.
      triggerThreshold - specifies the trigger threshold value.
      hasObjectThreshold - specifies the threshold value to detect object possession.
      Returns:
      this object for chaining.

    • setAnalogSensorTrigger

      public FrcMotorGrabber.Params setAnalogSensorTrigger(TrcAnalogSensor.AnalogDataSource analogSensorSource, boolean triggerInverted, double triggerThreshold)
      This method specifies the analog sensor trigger parameters.
      Parameters:
      analogSensorSource - specifies the method to call to get the analog sensor data.
      triggerInverted - specifies true if the trigger polarity is inverted.
      triggerThreshold - specifies the trigger threshold value.
      Returns:
      this object for chaining.