Package frc.robot.subsystems.shooter.flywheel

Interface FlywheelIO

All Known Implementing Classes:
FlywheelIOSim, FlywheelIOSpark
public interface FlywheelIO
Interface for the shooter flywheel subsystem input/output abstraction.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    FlywheelIO.FlywheelIOInputs
    Contains all of the inputs received from the flywheel hardware.

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    clearFaults()
    Clears all faults and warnings.
    default void
    runCharacterization(Voltage voltage)
    Runs a characterization routine on the flywheel to determine its feedforward constants.
    default void
    setAngularVelocity(AngularVelocity velocity)
    Commands the flywheel to spin at a specific angular velocity.
    default void
    stop()
    Stops the flywheel motor.
    default void
    updateInputs(FlywheelIO.FlywheelIOInputs inputs)
    Updates the set of loggable inputs with the latest data from the flywheel hardware.

  • Method Details

    • updateInputs

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

    • setAngularVelocity

      default void setAngularVelocity(AngularVelocity velocity)
      Commands the flywheel to spin at a specific angular velocity.
      Parameters:
      velocity - The target angular velocity for the flywheel.

    • runCharacterization

      default void runCharacterization(Voltage voltage)
      Runs a characterization routine on the flywheel to determine its feedforward constants.
      Parameters:
      voltage - The voltage to apply during characterization.

    • stop

      default void stop()
      Stops the flywheel motor.

    • clearFaults

      default void clearFaults()
      Clears all faults and warnings.