Package frc.robot.shared.config

Class AbstractSetAndSeekSubsystemConfig

java.lang.Object

frc.robot.shared.config.AbstractConfig

frc.robot.shared.config.AbstractSubsystemConfig

frc.robot.shared.config.AbstractMotorSubsystemConfig

frc.robot.shared.config.AbstractSetAndSeekSubsystemConfig

Direct Known Subclasses:

HarvesterSubsystemConfig, TurretSubsystemConfig

public abstract class AbstractSetAndSeekSubsystemConfig
extends AbstractMotorSubsystemConfig

Configuration values for subsystems that follow a trapezoidal motion profile.

Motion profile parameters (velocity, acceleration, tolerances, initial state) are organized into a nested SetAndSeekMotionConfig bundle. Setpoint limits are read from the motor configuration's soft limits so there is a single source of truth for the mechanism's safe travel range. PID and feedforward gains are inherited from AbstractMotorSubsystemConfig.

Nested Class Summary

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

AbstractConfig.ComponentPoseConfig

Field Summary

Fields

Modifier and Type	Field	Description
SetAndSeekMotionConfig	motionProfile	Trapezoidal motion profile parameters for this set-and-seek subsystem.

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

feedforward, motorConfig, pid, sysId

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

enabled, verbose

Constructor Summary

Constructors

Constructor	Description
AbstractSetAndSeekSubsystemConfig()

Method Summary

Modifier and Type	Method	Description
double	getMaximumSetpointDegrees()	Returns the maximum setpoint derived from the motor's forward soft limit.
double	getMaximumSetpointRadians()	Returns the maximum setpoint derived from the motor's forward soft limit.
double	getMinimumSetpointDegrees()	Returns the minimum setpoint derived from the motor's reverse soft limit.
double	getMinimumSetpointRadians()	Returns the minimum setpoint derived from the motor's reverse soft limit.

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

motionProfile

public SetAndSeekMotionConfig motionProfile

Trapezoidal motion profile parameters for this set-and-seek subsystem.

Constructor Details

AbstractSetAndSeekSubsystemConfig

public AbstractSetAndSeekSubsystemConfig()

Method Details

getMinimumSetpointDegrees

public double getMinimumSetpointDegrees()

Returns the minimum setpoint derived from the motor's reverse soft limit.

Returns:

minimum allowed setpoint in degrees

getMinimumSetpointRadians

public double getMinimumSetpointRadians()

Returns the minimum setpoint derived from the motor's reverse soft limit.

Returns:

minimum allowed setpoint in radians

getMaximumSetpointDegrees

public double getMaximumSetpointDegrees()

Returns the maximum setpoint derived from the motor's forward soft limit.

Returns:

maximum allowed setpoint in degrees

getMaximumSetpointRadians

public double getMaximumSetpointRadians()

Returns the maximum setpoint derived from the motor's forward soft limit.

Returns:

maximum allowed setpoint in radians