Package ftclib.subsystem

Class FtcMotorGrabber.Params

java.lang.Object

ftclib.subsystem.FtcMotorGrabber.Params

Enclosing class:

FtcMotorGrabber

public static class FtcMotorGrabber.Params
extends Object

This class contains all the parameters of the Motor Grabber.

Field Summary

Fields

Modifier and Type	Field	Description
private TrcAnalogSensor.AnalogDataSource	analogSensorSource
private double	ejectPower
private double	intakePower
private FtcMotorActuator.Params	motorParams
private double	retainPower
private String	sensorName
private FtcSensorTrigger.SensorType	sensorType
private boolean	triggerInverted
private Double	triggerThreshold

Constructor Summary

Constructors

Constructor	Description
Params()

Method Summary

Modifier and Type	Method	Description
FtcMotorGrabber.Params	setAnalogInputTrigger(String name, boolean triggerInverted, double triggerThreshold, double hasObjectThreshold)	This method specifies the analog input trigger parameters.
FtcMotorGrabber.Params	setAnalogSensorTrigger(TrcAnalogSensor.AnalogDataSource analogSensorSource, boolean triggerInverted, double triggerThreshold)	This method specifies the analog sensor trigger parameters.
FtcMotorGrabber.Params	setDigitalInputTrigger(String name, boolean triggerInverted)	This method specifies the digital input trigger parameters.
FtcMotorGrabber.Params	setFollowerMotor(String name, FtcMotorActuator.MotorType motorType, boolean inverted)	This methods sets the parameter of the follower motor if there is one.
FtcMotorGrabber.Params	setPowerParams(double intakePower, double ejectPower, double retainPower)	This method sets all the different power level for the operation.
FtcMotorGrabber.Params	setPrimaryMotor(String name, FtcMotorActuator.MotorType motorType, boolean inverted)	This methods sets the parameters of the primary motor.
String	toString()	This method returns the string format of the Params info.

Methods inherited from class java.lang.Object

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

Field Details

motorParams

private FtcMotorActuator.Params motorParams

sensorType

private FtcSensorTrigger.SensorType sensorType

sensorName

private String sensorName

analogSensorSource

private TrcAnalogSensor.AnalogDataSource analogSensorSource

triggerInverted

private boolean triggerInverted

triggerThreshold

private Double triggerThreshold

intakePower

private double intakePower

ejectPower

private double ejectPower

retainPower

private double retainPower

Constructor Details

Params

public Params()

Method Details

toString

@NonNull
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 FtcMotorGrabber.Params setPrimaryMotor(String name,
 FtcMotorActuator.MotorType motorType,
 boolean inverted)

This methods sets the parameters of the primary motor.

Parameters:

name - specifies the name of the motor.

motorType - specifies the type of the motor.

inverted - specifies true if the motor is inverted, false otherwise.

Returns:

this object for chaining.

setFollowerMotor

public FtcMotorGrabber.Params setFollowerMotor(String name,
 FtcMotorActuator.MotorType motorType,
 boolean inverted)

This methods sets the parameter of the follower motor if there is one.

Parameters:

name - specifies the name of the motor.

motorType - specifies the type of the motor.

inverted - specifies true if the motor is inverted, false otherwise.

Returns:

this object for chaining.

setPowerParams

public FtcMotorGrabber.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 FtcMotorGrabber.Params setDigitalInputTrigger(String name,
 boolean triggerInverted)

This method specifies the digital input trigger parameters.

Parameters:

name - specifies the name of the sensor.

triggerInverted - specifies true if the trigger polarity is inverted.

Returns:

this object for chaining.

setAnalogInputTrigger

public FtcMotorGrabber.Params setAnalogInputTrigger(String name,
 boolean triggerInverted,
 double triggerThreshold,
 double hasObjectThreshold)

This method specifies the analog input trigger parameters.

Parameters:

name - specifies the name of the sensor.

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 FtcMotorGrabber.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.