Package frc.robot.subsystems.turret

Interface TurretIO

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	setTargetAngle(Angle angle)	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)

Commands the turret to move toward the specified target angle.

resetPosition

void resetPosition(Angle angle)