Package frc.robot.subsystems.intake.spinner

Interface SpinnerIO

All Known Implementing Classes:

SpinnerIOSim, SpinnerIOSpark

public interface SpinnerIO

IO interface for the intake hardware abstraction.

Nested Class Summary

Nested Classes

Modifier and Type	Interface	Description
static class	SpinnerIO.SpinnerIOInputs	Contains all of the inputs received from the intake hardware.

Method Summary

Modifier and Type	Method	Description
default void	clearFaults()	Clears all faults and warnings.
default void	setVoltage(Voltage voltage)	Commands the spinner motor to run at a specific voltage.
default void	updateInputs(SpinnerIO.SpinnerIOInputs inputs)	Updates the set of loggable inputs with the latest data from the intake hardware.

Method Details

updateInputs

default void updateInputs(SpinnerIO.SpinnerIOInputs inputs)

Updates the set of loggable inputs with the latest data from the intake hardware.

Parameters:

inputs - The inputs object to update.

setVoltage

default void setVoltage(Voltage voltage)

Commands the spinner motor to run at a specific voltage.

Parameters:

voltage - The target voltage for the spinner rollers.

clearFaults

default void clearFaults()

Clears all faults and warnings.