Package frc.robot.subsystems.indexer

Class IndexerIOSpark

java.lang.Object

frc.robot.subsystems.indexer.IndexerIOSpark

All Implemented Interfaces:

IndexerIO

public class IndexerIOSpark
extends Object
implements IndexerIO

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

This implementation configures the Spark Max with specific current limits and idle modes, and monitors connectivity via a debouncer.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.indexer.IndexerIO

IndexerIO.IndexerIOInputs

Constructor Summary

Constructors

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

Method Summary

Modifier and Type	Method	Description
void	clearFaults()	Clears all faults and warnings.
void	setVoltage(Voltage voltage)	Sets the indexer motor voltage.
void	updateInputs(IndexerIO.IndexerIOInputs inputs)	Updates hardware inputs and monitors connectivity.

Methods inherited from class java.lang.Object

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

Constructor Details

IndexerIOSpark

public IndexerIOSpark()

Creates a new IndexerIOSpark and configures the Spark Max.

Method Details

updateInputs

public void updateInputs(IndexerIO.IndexerIOInputs inputs)

Updates hardware inputs and monitors connectivity.

Specified by:

updateInputs in interface IndexerIO

Parameters:

inputs - The inputs object to update.

setVoltage

public void setVoltage(Voltage voltage)

Sets the indexer motor voltage.

Specified by:

setVoltage in interface IndexerIO

Parameters:

voltage - The requested voltage to apply.

clearFaults

public void clearFaults()

Description copied from interface: IndexerIO

Clears all faults and warnings.

Specified by:

clearFaults in interface IndexerIO