Package frc.robot.subsystems.turret

Class Turret

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

frc.robot.subsystems.turret.Turret

All Implemented Interfaces:

Sendable, Subsystem

public class Turret
extends SubsystemBase

Subsystem representing the robot turret.

Field Summary

Fields

Modifier and Type	Field	Description
final frc.robot.subsystems.turret.TurretInputsAutoLogged	inputs

Constructor Summary

Constructors

Constructor	Description
Turret(TurretIO io, RobotState state)	Creates a new Turret subsystem.

Method Summary

Modifier and Type	Method	Description
static Rotation2d	getGearAnglesFromTurret(Angle rotation, double gearing, Rotation2d offset)	Computes the expected gear encoder angle for a given turret rotation.
Command	goToAngle(Angle rotations)
void	periodic()
Command	setAutoTurretFollow(Pose2d swervePose)	Sets the turret to go in the opposite direction of the drivetrain so it can resist the direction change, and stay facing the hub.
void	setGoal(Angle targetAngle)

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

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

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, idle, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

inputs

public final frc.robot.subsystems.turret.TurretInputsAutoLogged inputs

Constructor Details

Turret

public Turret(TurretIO io,
 RobotState state)

Creates a new Turret subsystem.

Parameters:

io - Hardware abstraction used to read sensors and control actuators

Method Details

periodic

public void periodic()

getGearAnglesFromTurret

public static Rotation2d getGearAnglesFromTurret(Angle rotation,
 double gearing,
 Rotation2d offset)

Computes the expected gear encoder angle for a given turret rotation.

Parameters:

rotation - Absolute turret rotation

gearing - Gear ratio between turret and encoder

offset - Encoder offset applied during calibration

Returns:

Normalized expected encoder angle

setGoal

public void setGoal(Angle targetAngle)

Parameters:

targetAngle - gets the goal angle

goToAngle

public Command goToAngle(Angle rotations)

setAutoTurretFollow

public Command setAutoTurretFollow(Pose2d swervePose)

Sets the turret to go in the opposite direction of the drivetrain so it can resist the direction change, and stay facing the hub.