Package ftclib.subsystem

Class FtcServoGrabber.Params

java.lang.Object
ftclib.subsystem.FtcServoGrabber.Params
Enclosing class:
FtcServoGrabber
public static class FtcServoGrabber.Params extends Object
This class contains all the parameters of the Servo Grabber.

  • Field Details

    • servoParams

      private FtcServoActuator.Params servoParams

    • openPos

      private double openPos

    • openTime

      private double openTime

    • closePos

      private double closePos

    • closeTime

      private double closeTime

    • sensorType

      private FtcSensorTrigger.SensorType sensorType

    • sensorName

      private String sensorName

    • analogSensorData

      private TrcAnalogSensor.AnalogDataSource analogSensorData

    • triggerInverted

      private boolean triggerInverted

    • triggerThreshold

      private Double triggerThreshold

  • 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.

    • setPrimaryServo

      public FtcServoGrabber.Params setPrimaryServo(String name, boolean inverted)
      This methods sets the parameters of the primary servo.
      Parameters:
      name - specifies the name of the servo.
      inverted - specifies true if the servo is inverted, false otherwise.
      Returns:
      this object for chaining.

    • setFollowerServo

      public FtcServoGrabber.Params setFollowerServo(String name, boolean inverted)
      This methods sets the parameter of the follower servo if there is one.
      Parameters:
      name - specifies the name of the servo.
      inverted - specifies true if the servo is inverted, false otherwise.
      Returns:
      this object for chaining.

    • setOpenCloseParams

      public FtcServoGrabber.Params setOpenCloseParams(double openPos, double openTime, double closePos, double closeTime)
      This method sets the open/close parameters of the servo grabber.
      Parameters:
      openPos - specifies the open position in physical unit.
      openTime - specifies the time in seconds required to open from fully close position.
      closePos - specifies the close position in physical unit.
      closeTime - specifies the time in seconds required to close from fully open position.
      Returns:
      this parameter object.

    • setDigitalInputTrigger

      public FtcServoGrabber.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 FtcServoGrabber.Params setAnalogInputTrigger(String name, boolean triggerInverted, double triggerThreshold)
      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.
      Returns:
      this object for chaining.

    • setAnalogSensorTrigger

      public FtcServoGrabber.Params setAnalogSensorTrigger(TrcAnalogSensor.AnalogDataSource analogSensorData, boolean triggerInverted, double triggerThreshold)
      This method specifies the analog sensor trigger parameters.
      Parameters:
      analogSensorData - 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.