Package frc.robot.subsystems.intake.spinner

Class SpinnerIOSpark

java.lang.Object

frc.robot.subsystems.intake.spinner.SpinnerIOSpark

All Implemented Interfaces:

SpinnerIO

public class SpinnerIOSpark
extends Object
implements SpinnerIO

Real IO implementation for the intake using REV SparkMax controllers.

This implementation configures the arm motor for position closed-loop control using motion profiling and the spinner motor for velocity control. It optimizes CAN bus traffic by setting specific update frequencies for status signals.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.intake.spinner.SpinnerIO

SpinnerIO.SpinnerIOInputs

Constructor Summary

Constructors

Constructor	Description
SpinnerIOSpark()	Creates a new SpinnerIOSpark and configures the SparkMax controllers.

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

SpinnerIOSpark

public SpinnerIOSpark()

Creates a new SpinnerIOSpark and configures the SparkMax controllers.

Method Details

updateInputs

public void updateInputs(SpinnerIO.SpinnerIOInputs inputs)

Description copied from interface: SpinnerIO

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

Specified by:

updateInputs in interface SpinnerIO

Parameters:

inputs - The inputs object to update.

setVoltage

public void setVoltage(Voltage voltage)

Description copied from interface: SpinnerIO

Commands the spinner motor to run at a specific voltage.

Specified by:

setVoltage in interface SpinnerIO

Parameters:

voltage - The target voltage for the spinner rollers.

clearFaults

public void clearFaults()

Description copied from interface: SpinnerIO

Clears all faults and warnings.

Specified by:

clearFaults in interface SpinnerIO