Package frc.robot.subsystems.turret

Class TurretReal

java.lang.Object

frc.robot.subsystems.turret.TurretReal

All Implemented Interfaces:

TurretIO

public class TurretReal
extends Object
implements TurretIO

turret hardware

Nested Class Summary

Nested classes/interfaces inherited from interface frc.robot.subsystems.turret.TurretIO

TurretIO.TurretInputs

Field Summary

Fields

Modifier and Type	Field	Description
final com.ctre.phoenix6.controls.PositionVoltage	mmVoltage

Constructor Summary

Constructors

Constructor	Description
TurretReal()	Real Turret Implementation

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.

Methods inherited from class java.lang.Object

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

Field Details

mmVoltage

public final com.ctre.phoenix6.controls.PositionVoltage mmVoltage

Constructor Details

TurretReal

public TurretReal()

Real Turret Implementation

Method Details

setTurretVoltage

public void setTurretVoltage(Voltage volts)

Specified by:

setTurretVoltage in interface TurretIO

updateInputs

public void updateInputs(TurretIO.TurretInputs inputs)

Description copied from interface: TurretIO

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

Specified by:

updateInputs in interface TurretIO

setTargetAngle

public void setTargetAngle(Angle angle,
 AngularVelocity velocity)

Description copied from interface: TurretIO

Commands the turret to move toward the specified target angle.

Specified by:

setTargetAngle in interface TurretIO

resetPosition

public void resetPosition(Angle angle)

Specified by:

resetPosition in interface TurretIO

setPID

public void setPID(PIDConstants constants)

Specified by:

setPID in interface TurretIO