Package trclib.subsystem

Class TrcMotorGrabber.Params

java.lang.Object

trclib.subsystem.TrcMotorGrabber.Params

Enclosing class:

TrcMotorGrabber

public static class TrcMotorGrabber.Params
extends Object

This class contains all the parameters for the motor grabber.

Field Summary

Fields

Modifier and Type	Field	Description
private double	ejectPower
private double	intakePower
private TrcMotor	motor
private double	retainPower
private TrcTrigger	sensorTrigger
private boolean	triggerInverted
private Double	triggerThreshold

Constructor Summary

Constructors

Constructor	Description
Params()

Method Summary

Modifier and Type	Method	Description
TrcMotorGrabber.Params	setMotor(TrcMotor motor)	This method sets the motor object for the grabber.
TrcMotorGrabber.Params	setPowerParams(double intakePower, double ejectPower, double retainPower)	This method sets all the different power level for the operation.
TrcMotorGrabber.Params	setSensorTrigger(TrcTrigger trigger, boolean inverted, Double triggerThreshold)	This method sets the sensor trigger object with optional trigger callback.
String	toString()	This method returns the string form of all the parameters.

Methods inherited from class java.lang.Object

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

Field Details

motor

private TrcMotor motor

sensorTrigger

private TrcTrigger sensorTrigger

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

public String toString()

This method returns the string form of all the parameters.

Overrides:

toString in class Object

Returns:

string form of all the parameters.

setMotor

public TrcMotorGrabber.Params setMotor(TrcMotor motor)

This method sets the motor object for the grabber.

Parameters:

motor - specifies the motor object.

Returns:

this parameter object.

setSensorTrigger

public TrcMotorGrabber.Params setSensorTrigger(TrcTrigger trigger,
 boolean inverted,
 Double triggerThreshold)

This method sets the sensor trigger object with optional trigger callback.

Parameters:

trigger - specifies the sensor trigger object.

inverted - specifies true to invert the trigger, false otherwise.

triggerThreshold - specifies the trigger threshold value.

Returns:

this parameter object.

setPowerParams

public TrcMotorGrabber.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.