TurretIO (FRC2026 API)

All Known Implementing Classes:: TurretReal, TurretSim

public interface TurretIO

Hardware abstraction layer for the turret subsystem.

Nested Class Summary

Nested Classes

Modifier and Type

Interface

Description

static class

TurretIO.TurretInputs

Container for all turret sensor inputs.
Method Summary

Modifier and Type

Method

Description

void

resetPosition(Angle angle)

void

setPID(PIDConstants constants)

void

setTargetAngle(Angle angle, AngularVelocity velocity)

Commands the turret to move toward the specified target angle.

void

setTurretVoltage(Voltage volts)

void

updateInputs(TurretIO.TurretInputs inputs)

Updates the provided TurretIO.TurretInputs structure with the latest sensor values.

Method Details
- setTurretVoltage
  
  void setTurretVoltage(Voltage volts)
- updateInputs
  
  void updateInputs(TurretIO.TurretInputs inputs)
  
  Updates the provided TurretIO.TurretInputs structure with the latest sensor values.
- setTargetAngle
  
  void setTargetAngle(Angle angle, AngularVelocity velocity)
  
  Commands the turret to move toward the specified target angle.
- resetPosition
  
  void resetPosition(Angle angle)
- setPID
  
  void setPID(PIDConstants constants)