Package frc.robot.devices.motor

Interface MotorIO

All Known Subinterfaces:
Motor
All Known Implementing Classes:
AbstractMotor, AbstractSimMotor, AbstractVelocityMotor, AbstractVelocitySimMotor, CompositeMotor, DisabledMotor, FeederMotor, FeederSimMotor, HarvesterMotor, HarvesterSimMotor, IndexerMotor, IndexerSimMotor, IntakeMotor, IntakeSimMotor, ShooterMotor, ShooterSimMotor, TurretMotor, TurretSimMotor
public interface MotorIO
Defines the telemetry surface for a motor controller so AdvantageKit can mirror hardware readings.

Implementations should fill the MotorIO.MotorIOInputs container with raw measurements (in radians and seconds) once per loop. Subsystems can then pass the generated MotorIOInputsAutoLogged into Logger.processInputs(...) for automatic logging.

  • Nested Class Summary

    Nested Classes
    Modifier and Type
    Interface
    Description
    static class 
    MotorIO.MotorIOInputs
    Container of motor state fields captured for telemetry.

  • Method Summary

    Modifier and Type
    Method
    Description
    void
    updateInputs(MotorIO.MotorIOInputs inputs)
    Populates the inputs structure with the most recent readings from the motor controller.

  • Method Details

    • updateInputs

      void updateInputs(MotorIO.MotorIOInputs inputs)
      Populates the inputs structure with the most recent readings from the motor controller.
      Parameters:
      inputs - mutable inputs container to fill for logging