Package frc.robot.shared.config

Class AbstractMotorSubsystemConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.AbstractSubsystemConfig

frc.robot.shared.config.AbstractMotorSubsystemConfig

Direct Known Subclasses:

AbstractSetAndSeekSubsystemConfig, AbstractVelocitySubsystemConfig

public abstract class AbstractMotorSubsystemConfig
extends AbstractSubsystemConfig

Configuration values shared by any motor-driven subsystem that uses PID control and feedforward estimation.

Concrete configs for position-based (set-and-seek) and velocity-based subsystems extend this class to inherit tunable PID and feedforward gains. Gains are organized into nested bundles: PidConfig, FeedforwardConfig, and SysIdRoutineConfig. Each bundle is surfaced to SmartDashboard under the parent subsystem's namespace (e.g., ShooterSubsystem/pid/kP).

Nested Class Summary

Nested classes/interfaces inherited from class frc.robot.shared.config.AbstractConfig

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
FeedforwardConfig	feedforward	Feedforward gains for this motor subsystem.
MotorConfig	motorConfig	Motor configuration bundle for this subsystem's primary motor.
PidConfig	pid	PID controller gains for this motor subsystem.
SysIdRoutineConfig	sysId	SysId routine parameters for this motor subsystem.

Fields inherited from class frc.robot.shared.config.AbstractSubsystemConfig

enabled, verbose

Constructor Summary

Constructors

Constructor	Description
AbstractMotorSubsystemConfig()

Method Summary

Methods inherited from class frc.robot.shared.config.AbstractSubsystemConfig

getVerbose

Methods inherited from class frc.robot.shared.config.AbstractConfig

getDashboardPrefix, initializeNestedDashboardPrefixes, readTunableBoolean, readTunableDegrees, readTunableDegreesAsRadians, readTunableNumber, readTunableString, setDashboardPrefix

Methods inherited from class java.lang.Object

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

Field Details

pid

public PidConfig pid

PID controller gains for this motor subsystem.

feedforward

public FeedforwardConfig feedforward

Feedforward gains for this motor subsystem.

sysId

public SysIdRoutineConfig sysId

SysId routine parameters for this motor subsystem.

motorConfig

public MotorConfig motorConfig

Motor configuration bundle for this subsystem's primary motor.

Constructor Details

AbstractMotorSubsystemConfig

public AbstractMotorSubsystemConfig()