Package frc.robot.subsystems.shooter.flywheel

Class FlywheelIOSpark

java.lang.Object

frc.robot.subsystems.shooter.flywheel.FlywheelIOSpark

All Implemented Interfaces:

FlywheelIO

public class FlywheelIOSpark
extends Object
implements FlywheelIO

Real IO implementation for the shooter flywheel using a SparkFlex motor controller (Neo Vortex).

This implementation configures the motor for MAXMotion velocity control, which generates a smooth trapezoidal acceleration profile to reach the target velocity. Feedforward gains (kS, kV, kA) are configured directly in the controller, eliminating the need for manual feedforward calculations.

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.shooter.flywheel.FlywheelIO

FlywheelIO.FlywheelIOInputs

Constructor Summary

Constructors

Constructor	Description
FlywheelIOSpark()	Creates a new FlywheelIOSpark and configures the motor controller.

Method Summary

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

Methods inherited from class java.lang.Object

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

Constructor Details

FlywheelIOSpark

public FlywheelIOSpark()

Creates a new FlywheelIOSpark and configures the motor controller.

Method Details

updateInputs

public void updateInputs(FlywheelIO.FlywheelIOInputs inputs)

Description copied from interface: FlywheelIO

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

Specified by:

updateInputs in interface FlywheelIO

Parameters:

inputs - The inputs object to update.

setAngularVelocity

public void setAngularVelocity(AngularVelocity velocity)

Description copied from interface: FlywheelIO

Commands the flywheel to spin at a specific angular velocity.

Specified by:

setAngularVelocity in interface FlywheelIO

Parameters:

velocity - The target angular velocity for the flywheel.

runCharacterization

public void runCharacterization(Voltage voltage)

Description copied from interface: FlywheelIO

Runs a characterization routine on the flywheel to determine its feedforward constants.

Specified by:

runCharacterization in interface FlywheelIO

Parameters:

voltage - The voltage to apply during characterization.

stop

public void stop()

Description copied from interface: FlywheelIO

Stops the flywheel motor.

Specified by:

stop in interface FlywheelIO

clearFaults

public void clearFaults()

Description copied from interface: FlywheelIO

Clears all faults and warnings.

Specified by:

clearFaults in interface FlywheelIO