Package frc.robot.subsystems.climb

Class ClimbIOSpark

java.lang.Object

frc.robot.subsystems.climb.ClimbIOSpark

All Implemented Interfaces:

ClimbIO

public class ClimbIOSpark
extends Object
implements ClimbIO

Real IO implementation for the climb subsystem using a Spark Max motor controller.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.climb.ClimbIO

ClimbIO.ClimbIOInputs

Constructor Summary

Constructors

Constructor	Description
ClimbIOSpark()	Creates a new ClimbIOSpark and configures the Spark Max.

Method Summary

Modifier and Type	Method	Description
void	clearFaults()	Clears all faults and warnings.
void	setLiftVoltage(Voltage voltage)	Run the lift motors at the specified voltage.
void	updateInputs(ClimbIO.ClimbIOInputs inputs)	Updates the set of loggable inputs.

Methods inherited from class java.lang.Object

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

Constructor Details

ClimbIOSpark

public ClimbIOSpark()

Creates a new ClimbIOSpark and configures the Spark Max.

Method Details

updateInputs

public void updateInputs(ClimbIO.ClimbIOInputs inputs)

Description copied from interface: ClimbIO

Updates the set of loggable inputs.

Specified by:

updateInputs in interface ClimbIO

Parameters:

inputs - The inputs object to update.

setLiftVoltage

public void setLiftVoltage(Voltage voltage)

Description copied from interface: ClimbIO

Run the lift motors at the specified voltage.

Specified by:

setLiftVoltage in interface ClimbIO

Parameters:

voltage - The voltage to apply to the motor controller.

clearFaults

public void clearFaults()

Description copied from interface: ClimbIO

Clears all faults and warnings.

Specified by:

clearFaults in interface ClimbIO