Package com.marswars.mechanisms

Class MechBase

java.lang.Object

com.marswars.mechanisms.MechBase

All Implemented Interfaces:

SubsystemIoBase

Direct Known Subclasses:

ArmMech, ElevatorMech, FlywheelMech, Module, RollerMech, SwerveMech

public abstract class MechBase
extends Object
implements SubsystemIoBase

Base class for mechanism IO implementations with common motor configuration helpers. Provides motor configuration helpers for CTRE TalonFX motor controllers.

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
class	MechBase.ConstructedMotors	Container for constructed motor controllers and their status signals.

Field Summary

Fields

Modifier and Type	Field	Description
protected final boolean	IS_SIM

Constructor Summary

Constructors

Constructor	Description
MechBase(String logging_prefix)	Creates a new mechanism base
MechBase(String logging_prefix, String mech_name)	Creates a new mechanism base with a specified mechanism name

Method Summary

Modifier and Type	Method	Description
MechBase.ConstructedMotors	configMotors(List<MotorConfig> motor_configs, double sensor_to_mech_ratio)	Configures the motors based on the given motor configs.
MechBase.ConstructedMotors	configMotors(List<MotorConfig> motor_configs, double sensor_to_mech_ratio, Function<MotorConfig,MotorConfig> configMaster)	Configures the TalonFX motors based on the given motor configs
String	getLoggingKey()	Get the logging key for this mechanism.
String	getMechName()	Get the name of the mechanism.
protected void	setMotorCurrentLimit(CurrentLimitsConfigs currentLimits, CommonTalon[] motors)	Applies the given current limits to each of the provided motors.

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.marswars.subsystem.SubsystemIoBase

logData, readInputs, writeOutputs

Field Details

IS_SIM

protected final boolean IS_SIM

Constructor Details

MechBase

public MechBase(String logging_prefix)

Creates a new mechanism base

Parameters:

logging_prefix - the logging prefix for this mechanism

MechBase

public MechBase(String logging_prefix,
 String mech_name)

Creates a new mechanism base with a specified mechanism name

Parameters:

logging_prefix - the logging prefix for this mechanism

mech_name - the name of the mechanism (used for mutliple instances of the same mech)

Method Details

getLoggingKey

public String getLoggingKey()

Get the logging key for this mechanism.

Returns:

the logging key

getMechName

public String getMechName()

Get the name of the mechanism.

Returns:

the name of the mechanism

configMotors

public MechBase.ConstructedMotors configMotors(List<MotorConfig> motor_configs,
 double sensor_to_mech_ratio,
 Function<MotorConfig,MotorConfig> configMaster)

Configures the TalonFX motors based on the given motor configs

Parameters:

motor_configs - the list of motor configs

sensor_to_mech_ratio - the sensor to mechanism ratio

configMaster - a function to modify the master motor config before applying it

Returns:

the constructed motors and their signals

configMotors

public MechBase.ConstructedMotors configMotors(List<MotorConfig> motor_configs,
 double sensor_to_mech_ratio)

Configures the motors based on the given motor configs.

Parameters:

motor_configs - the list of motor configs

sensor_to_mech_ratio - the sensor to mechanism ratio

Returns:

the constructed motors and their signals

setMotorCurrentLimit

protected void setMotorCurrentLimit(CurrentLimitsConfigs currentLimits,
 CommonTalon[] motors)

Applies the given current limits to each of the provided motors.

Parameters:

currentLimits - the current limit configuration to apply

motors - the motors to configure; each must be a TalonFX or TalonFXS

Throws:

IllegalArgumentException - if a motor is not a supported type for current limiting