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

Class ElevatorIOTalonFXReal

java.lang.Object
frc.alotobots.reefscape.subsystems.elevator.io.ElevatorIOTalonFXReal
All Implemented Interfaces:
ElevatorIO
public class ElevatorIOTalonFXReal extends Object implements ElevatorIO
Hardware implementation of the Elevator subsystem using TalonFX motors and a CANRange sensor. This class manages two TalonFX motors (left and right) and a CANRange for position feedback. The right motor follows the left motor in an inverted configuration to ensure synchronized movement. The CANRange provides absolute position feedback for the elevator mechanism.

  • Constructor Details

    • ElevatorIOTalonFXReal

      public ElevatorIOTalonFXReal()
      Constructs a new ElevatorIOTalonFXReal instance. Initializes and configures the TalonFX motors and CANRange sensor with appropriate settings for position control, current limits, and safety features. The right motor is configured to follow the left motor in an inverted configuration.

  • Method Details

    • updateInputs

      public void updateInputs(ElevatorIO.ElevatorIOInputs inputs)
      Updates the input values for the elevator subsystem. Refreshes all status signals and updates the provided inputs object with current sensor readings and state information.
      Specified by:
      updateInputs in interface ElevatorIO
      Parameters:
      inputs - The ElevatorIOInputs object to update with current values

    • setElevatorPosition

      public void setElevatorPosition(Distance position, int pidSlot)
      Sets the elevator to a specific position using closed-loop control.
      Specified by:
      setElevatorPosition in interface ElevatorIO
      Parameters:
      position - The target position as a Distance unit
      pidSlot - The PID slot to use (0 for velocity mode, 1 for position mode)

    • setElevatorPositionMotionMagic

      public void setElevatorPositionMotionMagic(Distance position, int pidSlot)
      Sets the elevator to a specific position using closed-loop control.
      Specified by:
      setElevatorPositionMotionMagic in interface ElevatorIO
      Parameters:
      position - The target position as a Distance unit
      pidSlot - The PID slot to use (0 for velocity mode, 1 for position mode)

    • setElevatorVelocity

      public void setElevatorVelocity(LinearVelocity velocity, int pidSlot)
      Sets the elevator to a specific velocity using closed-loop control.
      Specified by:
      setElevatorVelocity in interface ElevatorIO
      Parameters:
      velocity - The target velocity as a LinearVelocity unit
      pidSlot - The PID slot to use (0 for velocity mode, 1 for position mode)

    • setElevatorOpenLoop

      public void setElevatorOpenLoop(double percentOutput)
      Sets the elevator motors to run in open-loop mode at the specified output percentage.
      Specified by:
      setElevatorOpenLoop in interface ElevatorIO
      Parameters:
      percentOutput - The motor output as a percentage (-1.0 to 1.0)

    • setElevatorBrakeMode

      public void setElevatorBrakeMode(boolean brake)
      Sets the brake mode for the elevator motors.
      Specified by:
      setElevatorBrakeMode in interface ElevatorIO
      Parameters:
      brake - true to enable brake mode, false for coast mode

    • resetRotorPositions

      public void resetRotorPositions(Distance height)
      Resets the rotor sensors of both motors to be equal to the given height
      Specified by:
      resetRotorPositions in interface ElevatorIO
      Parameters:
      height - The height off the floor the elevator is at

    • stop

      public void stop()
      Stops all elevator motor movement.
      Specified by:
      stop in interface ElevatorIO