Package frc.robot.subsystems.intake.arm

Interface ArmIO

All Known Implementing Classes:
ArmIOSim, ArmIOSpark
public interface ArmIO
IO interface for the arm hardware abstraction.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    ArmIO.ArmIOInputs
    Contains all of the inputs received from the arm hardware.

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    clearFaults()
    Clears all faults and warnings.
    default void
    setPosition(Angle angle)
    Commands the arm motor to move to a specified position using closed-loop control.
    default void
    stop()
    Tells the motor to stop trying to reach its setpoint
    default void
    updateInputs(ArmIO.ArmIOInputs inputs)
    Updates the set of loggable inputs with the latest data from the intake hardware.

  • Method Details

    • updateInputs

      default void updateInputs(ArmIO.ArmIOInputs inputs)
      Updates the set of loggable inputs with the latest data from the intake hardware.
      Parameters:
      inputs - The inputs object to update.

    • setPosition

      default void setPosition(Angle angle)
      Commands the arm motor to move to a specified position using closed-loop control.
      Parameters:
      angle - The target angle for the arm.

    • stop

      default void stop()
      Tells the motor to stop trying to reach its setpoint

    • clearFaults

      default void clearFaults()
      Clears all faults and warnings.