Package frc.alotobots.reefscape.subsystems.elevator.io

Interface ElevatorIO

All Known Implementing Classes:
ElevatorIOTalonFXReal, ElevatorIOTalonFXSim
public interface ElevatorIO
Interface for elevator input/output operations. Handles the communication between the elevator subsystem and its hardware implementation.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    ElevatorIO.ElevatorIOInputs
    Class containing all input values from elevator sensors and motors.

  • Method Summary

    Modifier and Type
    Method
    Description
    default void
    resetRotorPositions(Distance height)
    Resets both motors' (left and right) dead-reckoning position to the rotor count consistent with the input height
    default void
    setElevatorBrakeMode(boolean brake)
    Sets whether the elevator motors should brake when idle.
    default void
    setElevatorOpenLoop(double percentOutput)
    Sets the elevator motors to run in open-loop control mode.
    default void
    setElevatorPosition(Distance position, int pidSlot)
    Sets the target position for the elevator using closed-loop control.
    default void
    setElevatorPositionMotionMagic(Distance position, int pidSlot)
    Sets the target position for the elevator using closed-loop control and motion magic.
    default void
    setElevatorVelocity(LinearVelocity velocity, int pidSlot)
    Sets the target velocity for the elevator using closed-loop control.
    default void
    stop()
    Stops all motors
    default void
    updateInputs(ElevatorIO.ElevatorIOInputs inputs)
    Updates the input values from the elevator hardware.

  • Method Details

    • updateInputs

      default void updateInputs(ElevatorIO.ElevatorIOInputs inputs)
      Updates the input values from the elevator hardware. Called periodically to refresh sensor and motor data.
      Parameters:
      inputs - The inputs object to update with the latest values

    • setElevatorPosition

      default void setElevatorPosition(Distance position, int pidSlot)
      Sets the target position for the elevator using closed-loop control.
      Parameters:
      position - The desired position for the elevator

    • setElevatorPositionMotionMagic

      default void setElevatorPositionMotionMagic(Distance position, int pidSlot)
      Sets the target position for the elevator using closed-loop control and motion magic.
      Parameters:
      position - The desired position for the elevator

    • setElevatorVelocity

      default void setElevatorVelocity(LinearVelocity velocity, int pidSlot)
      Sets the target velocity for the elevator using closed-loop control.
      Parameters:
      velocity - The desired velocity for the elevator

    • setElevatorOpenLoop

      default void setElevatorOpenLoop(double percentOutput)
      Sets the elevator motors to run in open-loop control mode.
      Parameters:
      percentOutput - The desired motor output as a percentage (-1.0 to 1.0)

    • setElevatorBrakeMode

      default void setElevatorBrakeMode(boolean brake)
      Sets whether the elevator motors should brake when idle. Useful during disabled/init to prevent gravity drift.
      Parameters:
      brake - true to enable brake mode, false for coast mode

    • resetRotorPositions

      default void resetRotorPositions(Distance height)
      Resets both motors' (left and right) dead-reckoning position to the rotor count consistent with the input height
      Parameters:
      height - The height that the elevator should reference as zero

    • stop

      default void stop()
      Stops all motors