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

Class WristIOTalonFXReal

java.lang.Object
frc.alotobots.reefscape.subsystems.wrist.io.WristIOTalonFXReal
All Implemented Interfaces:
WristIO
public class WristIOTalonFXReal extends Object implements WristIO
Hardware implementation of the WristIO interface using TalonFX motor controller and CANCoder for real robot operation. This class manages the physical wrist mechanism, handling motor control, position sensing, and safety limits.

  • Nested Class Summary

    Nested classes/interfaces inherited from interface frc.alotobots.reefscape.subsystems.wrist.io.WristIO

    WristIO.WristIOInputs

  • Constructor Summary

    Constructors
    Constructor
    Description
    WristIOTalonFXReal()
    Creates a new WristIOTalonFXReal instance and configures all motor controller and encoder settings.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    setWristOpenLoop(double percentOutput)
    Sets the wrist motor to run in open-loop mode at a specified percentage of maximum output.
    void
    setWristPosition(Angle position, int pidSlot)
    Sets the wrist to a target position using closed-loop control.
    void
    setWristPositionMotionMagic(Angle position, int pidSlot)
    Sets the wrist to a target position using closed-loop control and motion magic.
    void
    setWristVelocity(AngularVelocity velocity, int pidSlot)
    Sets the wrist to run at a target velocity using closed-loop control.
    void
    stop()
    Stops the wrist motor by setting the motor output to zero.
    void
    updateInputs(WristIO.WristIOInputs inputs)
    Updates the input values for the wrist subsystem by reading the latest status from hardware.

    Methods inherited from class java.lang.Object

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

  • Constructor Details

    • WristIOTalonFXReal

      public WristIOTalonFXReal()
      Creates a new WristIOTalonFXReal instance and configures all motor controller and encoder settings. This includes PID configurations, software limits, current limits, and sensor settings.

  • Method Details

    • updateInputs

      public void updateInputs(WristIO.WristIOInputs inputs)
      Updates the input values for the wrist subsystem by reading the latest status from hardware. This includes position, velocity, current, voltage, and limit switch states.
      Specified by:
      updateInputs in interface WristIO
      Parameters:
      inputs - The WristIOInputs object to update with the latest hardware state

    • setWristPosition

      public void setWristPosition(Angle position, int pidSlot)
      Sets the wrist to a target position using closed-loop control.
      Specified by:
      setWristPosition in interface WristIO
      Parameters:
      position - The target angle to move to
      pidSlot - The PID slot to use (0 for velocity, 1 for position)

    • setWristPositionMotionMagic

      public void setWristPositionMotionMagic(Angle position, int pidSlot)
      Sets the wrist to a target position using closed-loop control and motion magic.
      Specified by:
      setWristPositionMotionMagic in interface WristIO
      Parameters:
      position - The target angle to move to
      pidSlot - The PID slot to use (0 for velocity, 1 for position)

    • setWristVelocity

      public void setWristVelocity(AngularVelocity velocity, int pidSlot)
      Sets the wrist to run at a target velocity using closed-loop control.
      Specified by:
      setWristVelocity in interface WristIO
      Parameters:
      velocity - The target velocity to move at
      pidSlot - The PID slot to use (0 for velocity, 1 for position)

    • setWristOpenLoop

      public void setWristOpenLoop(double percentOutput)
      Sets the wrist motor to run in open-loop mode at a specified percentage of maximum output.
      Specified by:
      setWristOpenLoop in interface WristIO
      Parameters:
      percentOutput - The motor output percentage (-1.0 to 1.0)

    • stop

      public void stop()
      Stops the wrist motor by setting the motor output to zero.
      Specified by:
      stop in interface WristIO