Package frc.alotobots.reefscape.subsystems.wrist.io

Class WristIO.WristIOInputs

java.lang.Object

frc.alotobots.reefscape.subsystems.wrist.io.WristIO.WristIOInputs

Direct Known Subclasses:

WristIOInputsAutoLogged

Enclosing interface:

WristIO

public static class WristIO.WristIOInputs
extends Object

Data structure for inputs from wrist hardware.

Field Summary

Fields

Modifier and Type	Field	Description
boolean	bottomLimit	Whether the bottom limit switch/soft limit is triggered
boolean	cancoderConnected	Whether the CANCoder is connected
Angle	mechanismAngle	Current angle of the wrist mechanism
Voltage	motorAppliedVolts	Current voltage being applied to the motor
boolean	motorConnected	Whether the motor controller is connected
Current	motorCurrent	Current being drawn by the motor
int	pidSlot	Current PID slot being used (0 for velocity, 1 for position)
AngularAcceleration	rotationAcceleration
AngularVelocity	rotationVelocity	Current angular velocity of the wrist
boolean	topLimit	Whether the top limit switch/soft limit is triggered

Constructor Summary

Constructors

Constructor	Description
WristIOInputs()

Method Summary

Methods inherited from class java.lang.Object

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

Field Details

pidSlot

public int pidSlot

Current PID slot being used (0 for velocity, 1 for position)

motorConnected

public boolean motorConnected

Whether the motor controller is connected

cancoderConnected

public boolean cancoderConnected

Whether the CANCoder is connected

topLimit

public boolean topLimit

Whether the top limit switch/soft limit is triggered

bottomLimit

public boolean bottomLimit

Whether the bottom limit switch/soft limit is triggered

mechanismAngle

public Angle mechanismAngle

Current angle of the wrist mechanism

rotationVelocity

public AngularVelocity rotationVelocity

Current angular velocity of the wrist

rotationAcceleration

public AngularAcceleration rotationAcceleration

motorAppliedVolts

public Voltage motorAppliedVolts

Current voltage being applied to the motor

motorCurrent

public Current motorCurrent

Current being drawn by the motor

Constructor Details

WristIOInputs

public WristIOInputs()