Package com.marswars.mechanisms

Class TurretMech

java.lang.Object

com.marswars.mechanisms.MechBase

com.marswars.mechanisms.RollerMech

com.marswars.mechanisms.TurretMech

All Implemented Interfaces:

SubsystemIoBase

public class TurretMech
extends RollerMech

Roller-based mechanism configured for turret control.

Nested Class Summary

Nested classes/interfaces inherited from class com.marswars.mechanisms.RollerMech

RollerMech.ControlMode

Nested classes/interfaces inherited from class com.marswars.mechanisms.MechBase

MechBase.ConstructedMotors

Field Summary

Fields inherited from class com.marswars.mechanisms.RollerMech

current_target_, current_target_FF_, duty_cycle_target_, filtered_torque_current_, inputs_, motion_magic_position_request_, motion_magic_velocity_request_, motor_conn_debouncers_, motor_disconnected_alerts_, motor_temp_alerts_, position_target_, signals_, velocity_target_

Fields inherited from class com.marswars.mechanisms.MechBase

IS_SIM

Constructor Summary

Constructors

Constructor	Description
TurretMech(String logging_prefix, String mech_name, List<MotorConfig> motor_configs, double gear_ratio, double moi)	Constructs a new TurretMech
TurretMech(String logging_prefix, List<MotorConfig> motor_configs, double gear_ratio, double moi)	Constructs a new TurretMech

Method Summary

Methods inherited from class com.marswars.mechanisms.RollerMech

applyLoadTorque, configSlot, getCurrentPosition, getCurrentVelocity, getLeaderStatorCurrent, getLeaderSupplyCurrent, logData, readInputs, setCurrentLimits, setCurrentPosition, setTargetCurrent, setTargetCurrentWithFF, setTargetDutyCycle, setTargetPosition, setTargetPositionMotionProfile, setTargetPositionMotionProfileWithFF, setTargetPositionWithFF, setTargetVelocity, setTargetVelocityMotionProfile, writeOutputs

Methods inherited from class com.marswars.mechanisms.MechBase

configMotors, configMotors, getLoggingKey, getMechName, setMotorCurrentLimit

Methods inherited from class java.lang.Object

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

Constructor Details

TurretMech

public TurretMech(String logging_prefix,
 List<MotorConfig> motor_configs,
 double gear_ratio,
 double moi)

Constructs a new TurretMech

Parameters:

logging_prefix - String prefix for logging

motor_configs - Configuration for the turret motor

gear_ratio - Gear ratio as motor rotations / mechanism rotations

moi - Moment of inertia of the turret in kg*m^2 (Simulation only)

TurretMech

public TurretMech(String logging_prefix,
 String mech_name,
 List<MotorConfig> motor_configs,
 double gear_ratio,
 double moi)

Constructs a new TurretMech

Parameters:

logging_prefix - String prefix for logging

mech_name - Name of the mechanism

motor_configs - Configuration for the turret motor

gear_ratio - Gear ratio as motor rotations / mechanism rotations

moi - Moment of inertia of the turret in kg*m^2 (Simulation only)