Package frc.robot.shoulder

Class Shoulder.ShoulderConfig

java.lang.Object
frc.spectrumLib.mechanism.Mechanism.Config
frc.robot.shoulder.Shoulder.ShoulderConfig
Direct Known Subclasses:
PhotonShoulderConfig
Enclosing class:
Shoulder
public static class Shoulder.ShoulderConfig extends Mechanism.Config

  • Constructor Details

    • ShoulderConfig

      public ShoulderConfig()

  • Method Details

    • modifyMotorConfig

      public Shoulder.ShoulderConfig modifyMotorConfig(com.ctre.phoenix6.hardware.TalonFX motor)

    • isPhoton

      public boolean isPhoton()

    • setPhoton

      public Shoulder.ShoulderConfig setPhoton(boolean isPhoton)
      Returns:
      this.

    • getInitializedPosition

      public int getInitializedPosition()

    • getScoreDelay

      public double getScoreDelay()

    • getPrescoreDelay

      public double getPrescoreDelay()

    • getClimbPrep

      public double getClimbPrep()

    • setClimbPrep

      public Shoulder.ShoulderConfig setClimbPrep(double climbPrep)
      Returns:
      this.

    • getHome

      public double getHome()

    • setHome

      public Shoulder.ShoulderConfig setHome(double home)
      Returns:
      this.

    • getStationIntake

      public double getStationIntake()

    • setStationIntake

      public Shoulder.ShoulderConfig setStationIntake(double stationIntake)
      Returns:
      this.

    • getStationExtendedIntake

      public double getStationExtendedIntake()

    • setStationExtendedIntake

      public Shoulder.ShoulderConfig setStationExtendedIntake(double stationExtendedIntake)
      Returns:
      this.

    • getGroundAlgaeIntake

      public double getGroundAlgaeIntake()

    • setGroundAlgaeIntake

      public Shoulder.ShoulderConfig setGroundAlgaeIntake(double groundAlgaeIntake)
      Returns:
      this.

    • getGroundCoralIntake

      public double getGroundCoralIntake()

    • setGroundCoralIntake

      public Shoulder.ShoulderConfig setGroundCoralIntake(double groundCoralIntake)
      Returns:
      this.

    • getProcessorAlgae

      public double getProcessorAlgae()

    • setProcessorAlgae

      public Shoulder.ShoulderConfig setProcessorAlgae(double processorAlgae)
      Returns:
      this.

    • getL2Algae

      public double getL2Algae()

    • setL2Algae

      public Shoulder.ShoulderConfig setL2Algae(double l2Algae)
      Returns:
      this.

    • getL3Algae

      public double getL3Algae()

    • setL3Algae

      public Shoulder.ShoulderConfig setL3Algae(double l3Algae)
      Returns:
      this.

    • getNetAlgae

      public double getNetAlgae()

    • setNetAlgae

      public Shoulder.ShoulderConfig setNetAlgae(double netAlgae)
      Returns:
      this.

    • getAutonShoulderNetChecker

      public double getAutonShoulderNetChecker()

    • setAutonShoulderNetChecker

      public Shoulder.ShoulderConfig setAutonShoulderNetChecker(double autonShoulderNetChecker)
      Returns:
      this.

    • getL1Coral

      public double getL1Coral()

    • setL1Coral

      public Shoulder.ShoulderConfig setL1Coral(double l1Coral)
      Returns:
      this.

    • getL2Coral

      public double getL2Coral()

    • setL2Coral

      public Shoulder.ShoulderConfig setL2Coral(double l2Coral)
      Returns:
      this.

    • getL2Score

      public double getL2Score()

    • setL2Score

      public Shoulder.ShoulderConfig setL2Score(double l2Score)
      Returns:
      this.

    • getL3Coral

      public double getL3Coral()

    • setL3Coral

      public Shoulder.ShoulderConfig setL3Coral(double l3Coral)
      Returns:
      this.

    • getL3Score

      public double getL3Score()

    • setL3Score

      public Shoulder.ShoulderConfig setL3Score(double l3Score)
      Returns:
      this.

    • getL4Coral

      public double getL4Coral()

    • setL4Coral

      public Shoulder.ShoulderConfig setL4Coral(double l4Coral)
      Returns:
      this.

    • getL4CoralScore

      public double getL4CoralScore()

    • setL4CoralScore

      public Shoulder.ShoulderConfig setL4CoralScore(double l4CoralScore)
      Returns:
      this.

    • getExL1Coral

      public double getExL1Coral()

    • setExL1Coral

      public Shoulder.ShoulderConfig setExL1Coral(double exL1Coral)
      Returns:
      this.

    • getExL2Coral

      public double getExL2Coral()

    • setExL2Coral

      public Shoulder.ShoulderConfig setExL2Coral(double exL2Coral)
      Returns:
      this.

    • getExL2Score

      public double getExL2Score()

    • setExL2Score

      public Shoulder.ShoulderConfig setExL2Score(double exL2Score)
      Returns:
      this.

    • getExL3Coral

      public double getExL3Coral()

    • setExL3Coral

      public Shoulder.ShoulderConfig setExL3Coral(double exL3Coral)
      Returns:
      this.

    • getExL3Score

      public double getExL3Score()

    • setExL3Score

      public Shoulder.ShoulderConfig setExL3Score(double exL3Score)
      Returns:
      this.

    • getExL4Coral

      public double getExL4Coral()

    • setExL4Coral

      public Shoulder.ShoulderConfig setExL4Coral(double exL4Coral)
      Returns:
      this.

    • getExL4Score

      public double getExL4Score()

    • setExL4Score

      public Shoulder.ShoulderConfig setExL4Score(double exL4Score)
      Returns:
      this.

    • getTolerance

      public double getTolerance()

    • setTolerance

      public Shoulder.ShoulderConfig setTolerance(double tolerance)
      Returns:
      this.

    • getOffset

      public double getOffset()

    • setOffset

      public Shoulder.ShoulderConfig setOffset(double offset)
      Returns:
      this.

    • getInitPosition

      public double getInitPosition()

    • setInitPosition

      public Shoulder.ShoulderConfig setInitPosition(double initPosition)
      Returns:
      this.

    • getZeroSpeed

      public double getZeroSpeed()

    • setZeroSpeed

      public Shoulder.ShoulderConfig setZeroSpeed(double zeroSpeed)
      Returns:
      this.

    • getHoldMaxSpeedRPM

      public double getHoldMaxSpeedRPM()

    • setHoldMaxSpeedRPM

      public Shoulder.ShoulderConfig setHoldMaxSpeedRPM(double holdMaxSpeedRPM)
      Returns:
      this.

    • getCurrentLimit

      public double getCurrentLimit()

    • setCurrentLimit

      public Shoulder.ShoulderConfig setCurrentLimit(double currentLimit)
      Returns:
      this.

    • getTorqueCurrentLimit

      public double getTorqueCurrentLimit()

    • setTorqueCurrentLimit

      public Shoulder.ShoulderConfig setTorqueCurrentLimit(double torqueCurrentLimit)
      Returns:
      this.

    • getPositionKp

      public double getPositionKp()

    • setPositionKp

      public Shoulder.ShoulderConfig setPositionKp(double positionKp)
      Returns:
      this.

    • getPositionKd

      public double getPositionKd()

    • setPositionKd

      public Shoulder.ShoulderConfig setPositionKd(double positionKd)
      Returns:
      this.

    • getPositionKv

      public double getPositionKv()

    • setPositionKv

      public Shoulder.ShoulderConfig setPositionKv(double positionKv)
      Returns:
      this.

    • getPositionKs

      public double getPositionKs()

    • setPositionKs

      public Shoulder.ShoulderConfig setPositionKs(double positionKs)
      Returns:
      this.

    • getPositionKa

      public double getPositionKa()

    • setPositionKa

      public Shoulder.ShoulderConfig setPositionKa(double positionKa)
      Returns:
      this.

    • getPositionKg

      public double getPositionKg()

    • setPositionKg

      public Shoulder.ShoulderConfig setPositionKg(double positionKg)
      Returns:
      this.

    • getMmCruiseVelocity

      public double getMmCruiseVelocity()

    • setMmCruiseVelocity

      public Shoulder.ShoulderConfig setMmCruiseVelocity(double mmCruiseVelocity)
      Returns:
      this.

    • getMmAcceleration

      public double getMmAcceleration()

    • setMmAcceleration

      public Shoulder.ShoulderConfig setMmAcceleration(double mmAcceleration)
      Returns:
      this.

    • getMmJerk

      public double getMmJerk()

    • setMmJerk

      public Shoulder.ShoulderConfig setMmJerk(double mmJerk)
      Returns:
      this.

    • getSlowMmAcceleration

      public double getSlowMmAcceleration()

    • setSlowMmAcceleration

      public Shoulder.ShoulderConfig setSlowMmAcceleration(double slowMmAcceleration)
      Returns:
      this.

    • getSlowMmJerk

      public double getSlowMmJerk()

    • setSlowMmJerk

      public Shoulder.ShoulderConfig setSlowMmJerk(double slowMmJerk)
      Returns:
      this.

    • getSensorToMechanismRatio

      public double getSensorToMechanismRatio()

    • setSensorToMechanismRatio

      public Shoulder.ShoulderConfig setSensorToMechanismRatio(double sensorToMechanismRatio)
      Returns:
      this.

    • getRotorToSensorRatio

      public double getRotorToSensorRatio()

    • setRotorToSensorRatio

      public Shoulder.ShoulderConfig setRotorToSensorRatio(double rotorToSensorRatio)
      Returns:
      this.

    • getCANcoderRotorToSensorRatio

      public double getCANcoderRotorToSensorRatio()

    • setCANcoderRotorToSensorRatio

      public Shoulder.ShoulderConfig setCANcoderRotorToSensorRatio(double CANcoderRotorToSensorRatio)
      Returns:
      this.

    • getCANcoderSensorToMechanismRatio

      public double getCANcoderSensorToMechanismRatio()

    • setCANcoderSensorToMechanismRatio

      public Shoulder.ShoulderConfig setCANcoderSensorToMechanismRatio(double CANcoderSensorToMechanismRatio)
      Returns:
      this.

    • getCANcoderOffset

      public double getCANcoderOffset()

    • setCANcoderOffset

      public Shoulder.ShoulderConfig setCANcoderOffset(double CANcoderOffset)
      Returns:
      this.

    • isCANcoderAttached

      public boolean isCANcoderAttached()

    • setCANcoderAttached

      public Shoulder.ShoulderConfig setCANcoderAttached(boolean CANcoderAttached)
      Returns:
      this.

    • getShoulderX

      public double getShoulderX()

    • getShoulderY

      public double getShoulderY()

    • getSimRatio

      public double getSimRatio()

    • setSimRatio

      public Shoulder.ShoulderConfig setSimRatio(double simRatio)
      Returns:
      this.

    • getLength

      public double getLength()