Package frclib.subsystem

Class FrcShooter.Params

java.lang.Object
frclib.subsystem.FrcShooter.Params
Enclosing class:
FrcShooter
public static class FrcShooter.Params extends Object
This class contains all the parameters related to the shooter.

  • 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.

    • setShooterMotor1

      public FrcShooter.Params setShooterMotor1(String motorName, int motorId, FrcMotorActuator.MotorType motorType, boolean motorBrushless, boolean motorAbsEnc, boolean motorInverted)
      This method sets the parameters of the shooter motor 1.
      Parameters:
      motorName - 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.

    • setShooterMotor2

      public FrcShooter.Params setShooterMotor2(String motorName, int motorId, FrcMotorActuator.MotorType motorType, boolean motorBrushless, boolean motorAbsEnc, boolean motorInverted)
      This method sets the parameters of the shooter motor 2.
      Parameters:
      motorName - 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.

    • setTiltMotor

      public FrcShooter.Params setTiltMotor(String motorName, int motorId, FrcMotorActuator.MotorType motorType, boolean motorBrushless, boolean motorAbsEnc, boolean motorInverted, TrcShooter.PanTiltParams tiltParams)
      This method sets the parameters of tilt if there is one.
      Parameters:
      motorName - 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.
      tiltParams - specifies tilt parameters.
      Returns:
      this object for chaining.

    • setPanMotor

      public FrcShooter.Params setPanMotor(String motorName, int motorId, FrcMotorActuator.MotorType motorType, boolean motorBrushless, boolean motorAbsEnc, boolean motorInverted, TrcShooter.PanTiltParams panParams)
      This method sets the parameters of pan if there is one.
      Parameters:
      motorName - 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.
      panParams - specifies pan parameters.
      Returns:
      this object for chaining.